WABCO TAILGUARD User manual

TAILGUARD™

FOR REFUSE COLLECTION VEHICLES

Table of contents

1 Introduction ...................................................................................................................................................... 4

2 Safety information ............................................................................................................................................ 6

2.1 General safety instructions ...........................................................6

2.2 Summary of the safety instructions from the chapters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 TailGUARD™ .................................................................................................................................................. 10

3.1 TailGUARD™ for trailers ............................................................10

3.2 TailGUARD™ for Truck & Bus ........................................................10

4 TailGUARD™ for refuse collection vehicles ............................................................................................... 11

4.1 General functional principles .........................................................11

4.2 Why use TailGUARD™ and not a camera system? .......................................13

4.3 RetrottingTailGUARD™:Requirementsfortherefusecollectionvehicle ......................13

5 Required components: Overview ................................................................................................................. 15

5.1 Variant:Onlymonitoringandwarning ..................................................15

5.2 Variant:Autonomousbrakingviaseparatevalves .........................................16

5.2.1 Separate valves for vehicles with an ABS braking system ...................................................... 17

5.2.2 Separate valves for vehicles with a conventional braking system........................................... 18

5.2.3 Separate valves for vehicles with an EBS braking system...................................................... 18

5.3 Variant:AutonomousbrakingviaapreparedinterfaceforTailGUARD™ .......................19

6 Installation of the ultrasonic sensors .......................................................................................................... 20

6.1 The three standard applications ......................................................21

6.2 Positioningofthesensorsonrefusecollectionvehicles ....................................22

6.3 Testingthesensorpositions .........................................................25

6.4 Protectionagainstdamage ..........................................................26

6.5 Cablerouting .....................................................................27

7 Connecting TailGUARD™ to the vehicle electrical system ....................................................................... 30

7.1 Variant:Onlymonitoringandwarning ..................................................31

7.2 Variant:Autonomousbrakingviaseparatevalves .........................................32

7.2.1 Actuation of the stop lights ...................................................................................................... 33

7.2.2 Connecting with the electrical compartment............................................................................ 33

7.2.3 Interface connector.................................................................................................................. 34

7.3 Variant:AutonomousbrakingviaapreparedTailGUARD™interface ..........................35

8 Installation of the separate valves ............................................................................................................... 36

9 Planning and performing the TailGUARD™ installation ........................................................................... 38

Edition 1

Version 1 (05.2017)

815 010 212 3 (en)

Thispublicationisnotsubjecttoanupdatingservice.

Youwillndthecurrentversionat:

http://www.wabco.info/i/675

Introduction

1 Introduction

ThisdescriptionismainlyintendedforpersonswhowanttoplantheinstallationofTailGUARD™inrefusecollection

vehiclesandcarryouttheinstallation.

TailGUARD™isasystemformonitoringtheareabehindvehicleswhichisautomaticallyactivatedwhenreversegear

isengaged.TailGUARD™wasinitiallydevelopedfortrailers.Thesystemisalsoinstalledontowingvehiclesand

busesformonitoringtheareabehindthevehiclewhenreversingwiththeaidofultrasonicsensors.

Ifthesystemdetectsanobstacleintheintendedpathoftravel,itacousticallyandopticallyindicatesthedistanceto

thedriver.Whenthevehiclereachesadenedminimumdistancetotheobject,thevehiclecanbestoppedbyan

automaticactuationofthebrakingsystem.

Refuse collection vehicles frequently in reverse gear

Thesystemisparticularlyusefulonrefusecollectionvehiclessincetheyareoftenforcedtocopewithbothshorterand

comparativelylongdistancesinreversegear,forinstanceincul-de-sacswherethereisinsufcientspaceforturning

around.Insituationslikethis,thedriverhastonegotiatelongerdistancesoverwhichheispartiallyunsightedwhen

lookingintherear-viewmirrors.Thismeansthathemayoverlookobstaclesintheroadorpeoplecrossingoverbehind

therefusecollectionvehicle.

Another special scenario: constant presence of people in the area

behind the vehicle

Thereisanotherimportantreasonforinstallingareversemonitoringsystem.Inthecaseofmostrefusecollection

vehicles,peopleareconstantlyworkingbehindthevehiclewhohavetomanoeuvretherefusecontainerstothe

respectiveliftingandtippingmechanism,andthenhookthemintopositionbeforetheyareliftedandemptied.Itoften

happensthatrefusecollectionscannotstopthevehicleintimeduetocarelessnessorasuddenhealthimpairment.

Thisregularlyresultsinseriousaccidentsandseveraldeathseveryyear.Thiscanbepreventedtoalargeextentby

installingTailGUARD™asareversemonitoringsystem.

Introduction

Special challenges with refuse collection vehicles

Incontrasttoconventionaltowingvehiclesorbuses,mostrefusecollectionvehicleshaveprotrudingliftingandtipping

mechanismsandotherauxiliarydevicesttedtothebackofthevehicle.Thiscanmakeitdifculttondsuitable

locationsforinstallingtheultrasonicsensors.Forinstance,therefusecollectiondevicesonthebackofthevehicle

mustnotbewronglyidentiedasbeingobjectsintheareabehindthevehicle.Thesensorsmustalsobeinstalled

withespeciallyeffectiveprotectionsothattheyarenotdamagedduringthedailyrigoursofcollectingrefuse.Despite

allthesefactors,theymustbeabletoreliablysensethemonitoringareabehindthevehicle.Furtherchallengesarise

withthecablerouting.Here,itmustbeconsideredwhatmovementsaremadebytheattacheddevicesforllingand

emptyingthevehiclesothatthesensorcablescanberoutedinacorrectmanner.

Thisdescriptioncontainsimportantinformationexplaininghowyoucanmasterthesechallenges.

Safety information

2 Safety information

2.1 General safety instructions

Observe all required provisions and instructions:

 Readthispublicationcarefully.

 Adheretoallinstructions,informationandsafetyinformationtoprevent

injurytopersonsanddamagetoproperty.

 WABCOwillonlyguaranteethesafety,reliabilityandperformanceoftheir

productsandsystemsifalltheinformationinthispublicationisadheredto.

 Alwaysabidebythevehiclemanufacturer'sspecicationsandinstructions.

 Observeallaccidentregulationsoftherespectivecompanyaswellas

regionalandnationalregulations.

Make provisions for a safe work environment:

 Onlytrainedandqualiedtechniciansmaycarryoutworkonthevehicle.

 Usepersonalprotectiveequipmentifrequired(protectivegoggles,

respiratoryprotection,earprotectors,safetyshoes).

 Pedalactuationscanleadtosevereinjuriesifpersonsareinthevicinityof

thevehicle.Makesurethatpedalscannotbeactuatedasfollows:

 Switchthetransmissionto"neutral"andactuatethehandbrake.

 Securethevehiclewithbrakewedges.

 Fastenavisiblenotetothesteeringwheelindicatingthatworkisbeing

performedonthevehicleandthatthepedalsarenottobeactuated.

Safety information

Avoid electrostatic charge and uncontrolled discharging (ESD):

Noteduringconstructionandbuildingthevehicle:

 Preventpotentialdifferencesbetweencomponents(e.g.axles)andthe

vehicleframe(chassis).

 Makesurethattheresistancebetweenmetallicpartsofthe

componentsandthevehicleframeislessthan10ohms.

 Establishanelectricallyconductiveconnectionbetweenmovingor

insulatedvehicleparts,suchasaxles,andtheframe.

 Preventpotentialdifferencesbetweenthetowingvehicleandthetrailer.

 Makesurethatanelectricallyconductiveconnectionismadebetween

metalpartsinthetowingvehicleandthecoupledtrailerviathecoupling

(kingpin,fthwheel,clawswithpins),evenwithoutacablebeing

connected.

 Useelectricallyconductiveboltedconnectionswhenfasteningthe

ECUstothevehicleframe.

 Runthecablewithinmetalliccasingswherepossible(e.g.insidethe

U-beam)orbehindmetalandgroundedprotectiveplatingtominimise

theinuenceofelectro-magneticelds.

 Avoidtheuseofplasticmaterialsiftheycancauseelectrostatic

charging.

Whilecarryingoutrepairorweldingworkonthevehicle,observethe

following:

 Disconnectthebattery(ifinstalledinthevehicle).

 Disconnectcableconnectionstodevicesandcomponentsandprotect

connectorsandportsagainstcontamination.

 Alwaysconnectthegroundingelectrodedirectlywiththemetalnextto

theweldingpointwhenweldingtopreventmagneticeldsandcurrent

owviathecableorcomponents.

 Makesurethatcurrentiswellconductedbyremovingpaintorrust.

 Preventheatinuencesondevicesandcablingwhenwelding.

2.2 Summary of the safety instructions from the chapters

Observe the following safety instructions for interventions in the braking system:

 Observethespecicationsofthevehiclemanufacturer.

 Deactivationwhenthesupplypressureistoolow:Switchthesystemoffif

thevehicle'ssupplypressureistoolow.

 Onlyintervenewiththebrakingsystemifyouhavesufcientknowledgeof

thebrakingsystemandknowandcantakeresponsibilityfortheeffectof

youractionsandalltheirconsequences.

 Thebrakingsystemisunderpressure.Beforeinterveningwiththebraking

system,makesureallreservoirsandlinesarepressureless.

 Withbrakinginterventionsvia separately installed valves,thefrontaxle

mustnotbebraked.Makesurethatthevehicle'sfrontaxlecanNOTbe

brakedbythesystem.Brakinginterventionmustonlyoccurviatherear

axle(s).

To avoid any accidents, observe the following safety instructions for vehicles with braking intervention

through TailGUARD:

 Becausethestoppingdistancebecomeslongerwithheavilyladenvehicles

-inparticularwhenitisequippedwithEBS-thesettings(parameter

setting/pressurelimitingvalve)mustenablesufcientdecelerationforthe

fullyladenvehicle.

 Notepulsedbrakingwhenreversingtoofast:

 TailGUARDcanassistonlywithreversingspeedsbelowmax.9km/h.

 TailGUARDwilltriggershortbrakepulseswhenacriticalspeedis

reachedtoalertthedriver.

 Ifthedriveracceleratesfurther,TailGUARDdeactivatesitselfand

outputsafaultmessage.

 InthecaseofEBSvehicleswithbrakeinterventionvia separately

installed valves, ABSfunctionsarenotavailableduringTailGUARD

braking.EvenatthelowspeedrangeatwhichTailGUARDisactive,the

wheelsmightlockonslipperysurfaces.

 Speedsignalfaultsduetoincorrectorunprofessionalconnectioncan

signicantlyimpairvehiclesafety.

 Vehicles with a prepared interface for TailGUARD: TailGUARD may not

brakeifthevehicle’sEBSsystemhasafault.

Safety information

Observe the following safety instructions for handling cables:

 Waterthatentersthecablecoreorcablesleevecandamageelectronic

controlunits.Cableswithopenendsshouldthereforealwaysbe

connectedinthedriver’scabtoensurethatnowatercanenterthem.

Wherethisisnotpossible,useasuitablecablejointbox,e.g.AK190.This

applies in particular when using the prepared brake interface on the

Daimler Econic Euro6.

 Planyourinstallationpositionsothatcablescannotbecomekinked.

 Fastenthecablesandconnectorssothattheplugconnectionsarenot

subjectedtoanytensilestressorlateralforces.

 Neverroutecablesoversharpedgesorinthevicinityofaggressivemedia

(e.g.acids).

 Routethecabletotheconnectionssothatnowatercanenterthe

connector.

 Fastenthecabletiessothatthecableisnotdamaged.

 Whenusingtools,pleasenotetheinstructionsofthecable-tie

manufacturer.

 Ifthecablesaretoolong,donotwindthemupbutlaytheminloops.

Observe the following safety instructions for handling ultrasonic sensors:

 Thesurfacetowhichtheultrasonicsensorismountedmustbeevenand

mustbeatleast2mmlargerthantheultrasonicsensor(thisisrequired

toprotectthedrainageholesintherearagainstdirecthigh-pressure

cleaning).

 UltrasonicsensorsmustnottobemountedinaU-prolebecausethis

couldcausereections.WABCOrecommendstomounttheultrasonic

sensorsmechanicallyprotectedtoavoiddamage.

 Theabilitytodetectobjectslargelydependsontheultrasonicsensors'

positioningonthevehicle.Makesurethattheultrasonicsensorsare

installedataheightofatleast40cm.

 Noothervehiclecomponentsshouldbeinstalledwithintheultrasonic

sensor'srangeofvision.

 Therateofdetectiondependsonobjectsurfaces:

 Ultrasoundisbestreectedbysmoothsurfacesthatarepositionedata

rightangletothesound'sdirection.

 Smallandunfavourablesurfacessuchasmeshedstructures,furry

orhairysurfacesatanobliqueangletothesound'sdirectionarenot

detected so easily.

Safety information

3 TailGUARD™

3.1 TailGUARD™ for trailers

TailGUARD™wasinitiallydevelopedfortrailervehiclesttedwithanEBSbrakingsystemandusedonthe

trailer.Incidentally,thisexplainswhythetrailersuseEBSEdiagnosticsoftwarefordiagnosingandconguringall

TailGUARD™systemsandputtingthemintooperation,evenwhereTailGUARD™isinstalledinthetowingvehicle

orbus.Thediagnosticsoftwareautomaticallydetectsthiswhenthesystemstartsupandswitchestotheappropriate

mode.

TwodifferentsystemsareavailablewithTailGUARD™fortrailervehicles:

 WithTailGUARDlight™,twoultrasonicsensorsareusedtomeasuretheactualdistancetotheloadingramp.The

systemdoesnotmonitortheentireareabehindthevehicle,butisonlyanaidforapproachingtheramp.

 TheotherthreeTailGUARD™variantsaresystemsformonitoringtheareabehindthevehicle.WABCO

recommendsaminimumsystemofthreesensorsonthesamelevel(thevariantTailGUARD™).Withthe

TailGUARD

ROOF

™variant,forexample,aroofovertherampcanbedetectedbytwoextraultrasonicsensors

mountedonanadditionalupperlevel.Arearareamonitoringsystemcanberealisedwiththeaidofsixultrasonic

sensorsontwolevels(TailGUARDMAX™)whichisalsocapableofdetectingsmallerobjectsbehindthevehicle.

ThemostdetaileddescriptionofTailGUARD™fortrailervehiclescanbefoundintheTEBSEsystemdescription.You

candownloadthelatestversioninWABCOINFORMundertheproductnumber8150100933.

3.2 TailGUARD™ for Truck & Bus

WithTailGUARD™fortowingvehiclesandbuses,thesamesensorisusedforthetrailervehicleswhichisusedto

monitortheareabehindthevehicle.Themostsignicantdifferenceconcernshowthesystemisintegratedinthe

vehicleelectricalsystem,andhowanautomaticbrakingactionisrealisedwhentheconguredminimumdistanceto

anobstacleisreached.

Here,TailGUARD™forTruck&Bussupportsvariouspossibilities,whichareconciselyexplainedinthisdescription.

Adetaileddescriptionofthesystem,togetherwith

 amoreprecisedescriptionoftheoverallsystem,

 alistanddescriptionoftherequiredcomponents,

 installationinstructions,

 adescriptionofhowthesystemisputintooperation,

 operationbythedriver,

 maintenanceanddiagnosisinstructionsforworkshops,

 aswellaswiringdiagrams,

canbefoundinthesystemdescriptionforTailGUARD™forTruck&Bus.Youcandownloadthelatestversionin

WABCOINFORMundertheproductnumber8150102113.

Note:AnycrossreferencesgiveninthissystemdescriptionofTailGUARD™forTruck&Busthatrefertospecic

placesrelatetoversion3ofthissystemdescription.

TailGUARD™

4 TailGUARD™ for refuse collection vehicles

4.1 General functional principles

To avoid any accidents, observe the following safety instructions for

vehicles with braking intervention through TailGUARD:

 Vehicles with a prepared interface for TailGUARD: TailGUARD may not

brakeifthevehicle’sEBSsystemhasafault.

ThegeneralfunctionalprinciplesofthesystemcorrespondtothoseofTailGUARD™forTruck&Bus:

 TailGUARD™isactivatedwhenreversegearisengaged.

 Theareabehindthevehicleisthenmonitored(dependingontheapplication)bybetweentwoandsixultrasonic

sensors.Themaximumnumberofultrasonicsensorsthatcanbeinstalledprimarilydependsontherespective

liftingandtippingdevicesttedtotherefusecollectionvehicle.

 ThesensorsignalsaretransmittedoveraseparateLINbustotheElectronicExtensionModule,whichisanintegral

partofthesystem,andthenprocessedthere.

 Withregardtotheremainingscopeofthesystem,therearethreevariants:

• First variant:Ifthesystemisonlytobeusedasavisualdisplaytoalertthedriverwhenanobjectisdetected

intheareabehindthevehicle,anysuchobjectswithinthedetectionareaofthesensorsareindicatedbyLEDs

arrangedinbarsontheTrailerRemoteControldisplayandinputunit:

TailGUARD™ for refuse collection vehicles

Here,

– threegreenLEDsstandfordistancesbetween450and300cm,

– threeyellowLEDsstandfordistancesbetween300and150cm,

– andthreeredLEDsstandfordistancesbetween0and150cm.

– TheredLEDsalsohavetwodifferentstates:

▪ IfthecorrespondingLEDashes,thedistanceisabout50cm.

▪ IftheLEDlightsupcontinuously,thedistanceisapprox.25cmorless.

TheTrailerRemoteControlalsoemitsacousticsignalsviaabuilt-inbuzzer.Similartoparkingaidsfamiliarfrom

passengercars,thissignalisemittedatevershorterintervals,throughtoacontinuoustone,whenapproaching

anobjectbehindthevehicle.

Note:Thedisplayandcontrolunitiscalleda"TrailerRemoteControl"becauseitwasintroducedwith

TailGUARD™fortrailervehicles,andbecausehereitistheidenticalunit.Inthisconguration,however,the

devicehasnothingtodowithtraileroperations.

Incertaincountries,objectsbehindthevehiclecanalsobedisplayedbyacorrespondingashingofthe

vehicle'srearoutlinemarkerlampsinsteadofviatheTrailerRemoteControl.

• Second variant:Usually,itisreasonablyrequiredthatthesystem–inadditiontothedisplayandwarning

function–alsoautomaticallystopsthereversingvehiclewhenitreachesacertainpreconguredstopping

distance.Forthispurpose,thevehicleisautonomouslybrakedviaadditionallyttedpneumaticvalves.These

valvesarecontrolledbytheElectronicExtensionModule.

Theamountofcontrolledbrakingpressureisalsodependentupontheactualvehiclespeedsothatthestopping

distancecanbeadheredtosafely.Forthisreason,theElectronicExtensionModulereceivesthespeedsignal

fromthevehicleviaacorrespondingconnectioncable.

TheElectronicExtensionModulemustalsobeconnectedtothevehicleelectricalsystemwithotherspecial

cables,forexampletocontrolthestoplightsduringanautonomousbrakingaction.

• Third variant:Here,autonomousbrakingiseffectedbythevehicle'sownservicebrakeratherthanwiththeaid

ofseparatelyttedvalves.

Todothis,thevehiclemanufacturermusthaveinstalledacorrespondingelectronicTailGUARD™interface,

viawhichtheElectronicExtensionModulecansendtherequiredbrakingrequirementstothevehicle'sbraking

system.

Thisfunctionisavailablefrom2017asaspecialoptionforsometowingvehiclesproducedbyMercedes-Benz.

Here,theElectronicExtensionModuleisconnectedwiththreespecialcablestotheinterfaceprovidedbythe

manufacturer.Thisallowstheexchangeofotherinformation,suchasthevehiclespeed,thedrivingdirection,

andthedistancetoobjectsbehindthevehicle.

Withthisthirdvariant,thefunctionalreadinessofthesystemandthedistanceinformationareindicatedonthe

displayonthevehicle'sinstrumentpanel.Theacousticwarningissoundedviathealreadyttedspeakers.This

obviatestheneedfortheTrailerRemoteControl.

TailGUARD™ for refuse collection vehicles

4.2 Why use TailGUARD™ and not a camera system?

Atrstglance,acamerathatprovidesthedriverofarefusecollectionvehiclewithanopticalimageoftheareabehind

thevehiclewouldappeartobesuperiortotheultrasonic-baseddetectionprincipleusedbyTailGUARD™.

Oncloserconsideration,however,TailGUARD™offersdecisivebenets,particularlywhererefusecollectionvehicles

areconcerned:

 Acamerasystemrequiresgoodlightconditions.Adequatelightingisonlyavailableduringdaylighthours,however.

TailGUARD™,ontheotherhand,alwaysfunctionsequallywellwhatevertheconditions:indaylight,atdawnand

dusk,andeveninthedark.

 Withacamerasystem,whilereversingthedrivermustalwayskeepaneyeonboththemonitorwiththedetailed

cameraimageandtherear-viewmirror.Thisdividedattentioncreatesadditionalstress,andcanleadtomistakes

inrecognisingthesituationbehindthevehicle.WithTailGUARD™,aswellasasimpleopticalsignal,thedriveris

alertedbyadditionalacousticwarningsignals.Thisenablesthedrivertovisuallyfocusontherear-viewmirror.

 Withacamerasystem,thedrivermusthimselfidentifyanyrelevantobjectsinthecameraimage.The

TailGUARD™systemautomaticallyrecognisesbothmovingandstationaryobjects.

 TailGUARD™alsodetectsandmeasuresthedistancetoobjectsintheimmediatevicinityoftherearofthevehicle,

andindicatesthedistancesbetweenthem,whichissomethingthatcamera-basedsystemsarenotcapableof.

 Withacamerasystem,thedriverhastoactivelydecidewhentobrakeandthenperformtheaction.TailGUARD™

ontheotherhand,canautonomouslybrakethevehiclewhenitapproachesanobject.

 Whilethecamerasopticsneedtoberegularlycleaned,TailGUARD™doesnotrequireanymaintenance.

4.3 Retrotting TailGUARD™: Requirements for the refuse

collection vehicle

Herearethemostessentialrequirementsthathavetobefullledbythevehicle:

 Suitablelocationsforinstallingtheultrasonicsensors:

• Itcanbeaproblemwithrefusecollectionvehiclestondsuitableinstallationlocationsfortheultrasonicsensors

dependingontheinstalledliftingandtippingsystem.

• Generally,however,atleasttwosensorscanbesuccessfullyinstalledandconguredinsuchawayasto

providesatisfactorymonitoringoftheareabehindthevehicle.

• Inextremecases,however,specialrear-mountedsuperstructuresmaymeanthatitisnotpossibletouse

TailGUARD™formonitoringtheareabehindthevehicle.Incaseofdoubt,itisthereforeadvisabletocheck

theinstallationpossibilitiesbyconductingtestsbeforehandtopinpointsuitablepositionsforthesensors(see

Chapter 7).

 Supplyvoltage:

• Allvehicleswitha24Vsupplyvoltagecanbettedwiththesystem.

• Vehicleswitha12Von-boardelectricsystemcanonlybettedwiththesystemifapermanentsupplyvoltageof

more than 11.5 V is assured.

 Typeofbrakingsystem:

• ConventionalbrakingsystemwithoutABS:thevehiclecanbettedwithTailGUARD™.Inthiscase,thebraking

pressuregeneratedseparatelybyTailGUARD™isfedintotheinputoftherelayvalveortheautomaticload-

dependentbrakepowerregulator(LSVcontroller).

• VehiclewithABS:TailGUARD™isapprovedforallABSsystems.

• VehiclewithEBS:

– TailGUARD™isapprovedforvehiclesttedwithWABCOEBS.

– Forvehicleswithnon-WABCOEBS,aconversionbeforehandtoWABCOEBSisrecommended.

 Speedsignal:

• AspeedsignalinaccordancewithISO16844-2(C3signal)mustbeprovidedinthevehicle.

• Thevehiclemanufacturermustnothaveprohibiteduseofthissignalforexternalsystems.

 Expertapproval:

• Ifthevehicleistobebrakedautonomouslywhenapproachingobjectsbehindit,andifitisbeingoperatedin

publicareas,itmustbeinspectedbyanexpertaftertheconversion(atleastinEurope)incompliancewiththe

ECE-R13standard.

• AbasicexpertassessmentisavailablefromWABCOwhichconrmsconformitywithECE-R13providedthe

systemisinstalledcorrectly.Thismeansthatitisthenonlynecessarytohavetheindividualvehicleinspected

byanexpertforcorrectinstallation.

MoredetailedinformationregardingtherequirementsforthevehiclecanbefoundinChapter4ofthesystem

description for TailGUARD™ for Truck & Bus.

TailGUARD™ for refuse collection vehicles

5 Required components: Overview

ThischaptergivesanoverviewofthecomponentsthatarerequiredforthefollowingthreeTailGUARD™variants.

FurtherdetailscanbefoundinChapter6ofthesystemdescriptionforTailGUARD™forTruck&Bus.

To avoid any accidents, observe the following safety instructions for vehicles with braking intervention

through TailGUARD:

 Becausethestoppingdistancebecomeslongerwithheavilyladenvehicles

-inparticularwhenitisequippedwithEBS-thesettings(parameter

setting/pressurelimitingvalve)mustenablesufcientdecelerationforthe

fullyladenvehicle.

 Notepulsedbrakingwhenreversingtoofast:

 TailGUARDcanassistonlywithreversingspeedsbelowmax.9km/h.

 TailGUARDwilltriggershortbrakepulseswhenacriticalspeedis

reachedtoalertthedriver.

 Ifthedriveracceleratesfurther,TailGUARDdeactivatesitselfand

outputsafaultmessage.

 InthecaseofEBSvehicleswithbrakeinterventionvia separately

installed valves, ABSfunctionsarenotavailableduringTailGUARD

braking.EvenatthelowspeedrangeatwhichTailGUARDisactive,the

wheelsmightlockonslipperysurfaces.

 Speedsignalfaultsduetoincorrectorunprofessionalconnectioncan

signicantlyimpairvehiclesafety.

 Vehicles with a prepared interface for TailGUARD: TailGUARD may not

brakeifthevehicle’sEBSsystemhasafault.

5.1 Variant: Only monitoring and warning

IfTailGUARD™isonlytobeusedformonitoringandwarningpurposes(seeSection4.1,rstvariant),thefollowing

componentsarerequired:

 2to6ultrasonicsensorsdependingonyourownrequirements,aswellasthenumberofinstallationlocationsthat

arepossibleontherefusecollectionvehicleinquestion.

 TheappropriateextensionandsplittercablesforconnectingtheultrasonicsensorstotheElectronicExtension

Module.

 TheElectronicExtensionModule(alsoreferredtohereastheECU),whichcontainsthecontrolelectronicsand

providesalltherequiredsocketsfortheconnectingcables.TheECUisusuallymountedontheframeofthe

vehicleascloseaspossibletothedriveaxle.TheECUmustalwaysbeinstalledsothatthecableopeningspoint

downwardsortotheside.

 ATrailerRemoteControlinthevicinityofthedriver'sseatforopticalandacousticindicationofthedetected

distances,aswellasforwarningpurposes.TheTrailerRemoteControlalsoallowsthedrivertomanuallyadjustthe

volumeoftheacousticindicatorandtotemporarilydisableTailGUARD™.

 AspecialsupplycableforthepowersupplytotheECU,whichisfedtoterminals15,30and31inthefuseboxor

thevehicle'selectricalcompartment.TheTrailerRemoteControlisalsoconnectedtoterminals15and31ofthis

linelinktosupplyitwithvoltage.Inaddition,theTrailerRemoteControlcommunicateswiththeECUviathisline

usingthePLCmethod:"PowerLineCommunication"usesapowersupplylinetosimultaneouslytransmitelectrical

signals.

Required components: Overview

 AGIOcable,withwhichtheECUtapsthepowersupplyforthereversinglight.Thisenablesthesystemto

detectwhenreversegearisengaged,sothatitthenactivatesthemonitoringoftheareabehindthevehiclewith

TailGUARD™.

 Adiagnosticsocket.Thisisinstalledinaneasilyaccessiblepositionoutsideofthevehicleandisconnectedto

theECUwithitscable.Thediagnosticsocketisusedforconguringthesystem'sparametersandputtingitinto

operation,aswellasfordiagnosingmalfunctions.

 Additionaloptionalcomponents,suchasamonitoringoff-switch,anextrabuzzerandindicatorlamps,canbe

connectedtoadditionalGIOsocketsintheECU.

5.2 Variant: Autonomous braking via separate valves

Withthisvariant,thefollowinglinelinksarerequiredinadditiontotheprecedingvariant:

 AcableviawhichtheECUreceivesthevehiclespeedsignal.Thiscableisroutedeitherdirectlytothevehicle

tachograph,ortoaninterfaceprovidedbythevehiclemanufacturerinaccordancewithISO16844-2("C3signal",

alsocalleda"B7signal").Theothercablewiresarenotusedandmustbeisolated.Thespeedsignalisrequiredby

theECUinordertobeabletomatchtheappliedbrakingpressuretotheactualspeedofthevehicle.

 Otherwiresoftheuniversalcable(whichisonlyusedwiththerstvariantfortappingthepowersupplyto

thereversinglight)areusedtoconnectthetwostoplightssothattheycanbesuppliedwithpowerduringan

autonomousbrakingaction.

Whichadditionalvalves,sensorsandlinelinkshavetobeinstalledsothatanautonomousbrakingactioncanbe

executedwhenapproachinganobjectbehindthevehiclewilldependuponthebrakingsystemofthevehiclein

question.ThisishowthesystemfunctionsonvehiclesequippedwithanABSbrakingsystem:

Required components: Overview

5.2.1 Separate valves for vehicles with an ABS braking system

Whenthedriveractuatesthebrakingvalve(2)onatowingvehicleequippedwithanABSbrakingsystem,thebraking

pressurefortherearaxlereachesthecontrolinputoftheLSVregulator(9),whichthenadaptsthebrakingpressure

totheloadstatusofthevehicle.ItsoutputpressurereachestheTristopcylindersattherearaxleviathetwoABS

solenoidvalves(10).

Toadditionallyenableautonomousbrakingactions,thestandardcongurationofthispartoftheABSbrakingsystem

isextendedwithTailGUARD™asfollows:

 Supplypressurefortherearaxleispassedonviaabranchlinetoanappropriatelysetchargingvalve(3).The

effectofthisisthatautonomousbrakingisonlypossibleatasufcientsupplypressureofatleast7.3bar.

 Fromhere,thepressurereachesapressurelimitingvalve(4).Thismakesitpossibletosetthemaximumbraking

pressurethatcanbegeneratedforanautonomousbrakingaction.Inthecaseofrefusecollectionvehicles,a

maximumbrakingpressureofapprox.3.8barhasfrequentlyprovedtobemosteffective.

 Thebrakingpressurethenpassesthroughtwosolenoidvalves(5)and(6)thatareconnectedinseries.Theseare

controlledbytheECU(1),andenablemodulationofabrakingpressurethatisadaptedtothevehiclespeed.The

seriescircuitensuresthatthevehicleisonlybrakedwhenbothvalvesareactuated.Thispreventsanautonomous

brakingactionfrombeingtriggeredduetoanelectricalfault.

 ThemodulatedbrakingpressureisfedintothecontrolinputoftheLSVregulator(9)viaatwo-wayvalve(7).From

here,theoutputpressurereachestheTristopcylindersoftherearaxleintheusualmanner.Thebrakingpressure

isalsomeasuredbyapressuresensor(8)thatislikewiseconnectedtotheECU(1).

Required components: Overview

5.2.2 Separate valves for vehicles with a conventional braking system

OnvehiclesequippedwithLSVregulatorsbutwithoutanABSsystem,autonomousbrakingiseffectedinthesame

mannerasforvehiclesttedwithanABSbrakingsystem.Inthesystemdiagram(see4.2.1),onlythetwoABS

solenoidvalves(10)aremissing.

OnvehicleswithaconventionalbrakingsystemwithoutanLSVregulator,theoutputpressureisinsteadfedintothe

controlinputoftheconventionalrelayvalveviaatwo-wayvalve.

5.2.3 Separate valves for vehicles with an EBS braking system

Whenthedriveractuatesthebrakesignaltransmitter(notshownhere)onatowingvehiclewithanEBSbraking

system,thebrakingpressureisapplieddirectlytotheTristopcylindersfromtheoutputsoftheaxlemodulator(2)inthe

usual manner.

Required components: Overview

Toenableancillaryautonomousbrakingactions,theadditionalvalvesfamiliarfromtheABSbrakingsystemare

installed.Thereareonlytwomaindifferences:

 Here,theoutputtedbrakingpressureisnotforwardedtoanLSVregulatorbecauseitstaskistakenoverbytheaxis

modulator.Instead,thebrakingpressureisfedtothecontrolinputofanadditionallyinstalledrelayvalve.Thetask

ofthisvalveistoshortentheresponsetimeoftheautonomousbrake.

 TheoutputpressureoftherelayvalvethenreachestheTristopcylindersoftherearaxleviathetwolikewise

additionallyinstalledtwo-wayvalves(7).

5.3 Variant: Autonomous braking via a prepared interface for

TailGUARD™

To avoid any accidents, observe the following safety instructions for

vehicles with braking intervention through TailGUARD:

 Vehicles with a prepared interface for TailGUARD: TailGUARD may not

brakeifthevehicle’sEBSsystemhasafault.

Withthisvariant,separatevalvesdonothavetobeinstalledbecausetheautonomousbrakingactionsareeffected

usingtheexistingEBSservicebrakesystemofthetowingvehicle.

Dependingontheinterfacetothetowingvehicle,theopticalindicationscanbeshownonthedisplayonthevehicle's

instrumentpanel.Hardwarecanalsobeinstalledinthedriver'scabbythevehiclemanufacturerfortheacoustic

signalling.Otherwise,aTrailerRemoteControlcanbeusedhereaswellforopticalandacousticindicationpurposes.

Withthisvariant,theECUisconnectedtotheTailGUARD™interfacettedthevehiclemanufacturerbyfourmulti-core

connectingcables.Theseareused,amongotherthings,

 tosupplypowertotheECU,

 totransmittherequestsignalfortheautonomousbrakingaction,

 toreporterrorstates,

 andforconnectingtheECUtothecorrespondingon-boardCANbus.

OntherstavailablevehicleserieswithanoptionallypreparedTailGUARD™interface,theMercedes-BenzEconic

Euro6,thevehicleinterfacecomprisesthreemulti-pinsocketsX1,X2andX3.Thecorrespondingthreeconnector

housingsneedtobeobtainedfromthevehiclemanufacturer,andarethenttedwiththefourconnectingcables

suppliedbyWABCO.

Otherwise,theECUisconnectedtoadedicateddiagnosticsocketaswiththeothertwovariants.

Required components: Overview

6 Installation of the ultrasonic sensors

Observe the following safety instructions for handling ultrasonic sensors:

 Thesurfacetowhichtheultrasonicsensorismountedmustbeevenand

mustbeatleast2mmlargerthantheultrasonicsensor(thisisrequired

toprotectthedrainageholesintherearagainstdirecthigh-pressure

cleaning).

 UltrasonicsensorsmustnottobemountedinaU-prolebecausethis

couldcausereections.WABCOrecommendstomounttheultrasonic

sensorsmechanicallyprotectedtoavoiddamage.

 Theabilitytodetectobjectslargelydependsontheultrasonicsensors'

positioningonthevehicle.Makesurethattheultrasonicsensorsare

installedataheightofatleast40cm.

 Noothervehiclecomponentsshouldbeinstalledwithintheultrasonic

sensor'srangeofvision.

 Therateofdetectiondependsonobjectsurfaces:

 Ultrasoundisbestreectedbysmoothsurfacesthatarepositionedata

rightangletothesound'sdirection.

 Smallandunfavourablesurfacessuchasmeshedstructures,furry

orhairysurfacesatanobliqueangletothesound'sdirectionarenot

detected so easily.

Installation of the ultrasonic sensors

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WABCO TAILGUARD User manual

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