Parking Brake Locked On Hill, Automatic Release Not Working

[Micken]

Hi everyone, I own an Avensis Mk 3 Tourer 2.0 litre D-4D Manual, registered Dec 2010. mileage 24564.

Driving up a hill, I stopped behind a lorry, switched on the parking brake, lorry pulled away, I tried pulling away but the automatic brake release did not work, the parking brake was locked on with parking red indicator light on dash, I released the brakes using the switch and the car rolled back, I switched on the parking brake, brake went back on with red parking indicator light. I then used more revs to pull away but brakes stayed locked on with a strong smell of burning clutch, I then switched of engine and restarted engine, the automatic brake release then worked normaly. Had the car checked at the main dealer, no fault found and no codes found, Has anyone have any idea what happened.