Braking system for a vehicle and vehicle with such a braking system

Abstract

Braking system (1, 1a, 1b) for a vehicle (2), comprising the braking system (1, 1a, 1b), a brake control (17) configured to control an actuator (18) controlling the braking force, a wireless communication unit (5) configured to receive external data through an external device, and an online receiving unit (4, 4a) configured to receive vehicle data from one or more in-vehicle devices via one or more first input channels (8a, 9a, 10a) as well as at least some of the external data via the wireless communication unit (5), wherein the online receiving unit (4, 4a) is further configured to recognize a necessary braking situation as online information from the received external data and vehicle data, and a first offline receiving unit (6), wherein the first offline receiving unit (6) is configured to receive at least part of the identical vehicle data from one or more in-vehicle devices via one or more second input channels (8b, 9b, 10b) and to recognize the necessary braking situation as a first offline information from the received vehicle data; at least a second offline receiving unit (19), wherein the at least one second offline receiving unit (19) comprises one or more sensors arranged to detect at least the traffic situation in the direction of travel as traffic data, and wherein the at least one second offline receiving unit (19) is configured to recognize the necessary braking situation as a second offline information from the received traffic data; and a comparator (11) which is designed to compare the online information and the first and second offline information and to generate a positive or negative result based on the comparison, and in the case of a positive result, to transmit this to the brake control (17) for activation of the brake control (17).

Description

[0001] The invention relates to a braking system for a vehicle and a vehicle with such a braking system.

[0002] Vehicles contain various processors that generate commands to control different vehicle modules, such as infotainment systems, electric motors, traction batteries, chassis control, brakes, transmission, climate control, etc., based on sensor / actuator data. Simultaneously, the processors receive commands to control or operate vehicle modules, such as infotainment systems / navigation devices, based on external data.

[0003] Modern driver assistance systems are capable of completely avoiding an imminent collision through autonomously initiated emergency braking, or at least minimizing the consequences of the collision. These systems use suitable sensors (radar, lidar, image processing) and by evaluating vehicle-to-vehicle (V2V) or vehicle-to-environment (V2X) communication to detect the vehicle's surroundings and identify potential collision objects.

[0004] Furthermore, vehicles are increasingly connected to communication networks. The advent of V2V and V2X communication via radio, as well as the development of the Internet of Things, opens up a myriad of possibilities.

[0005] For example, it opens up the possibility of connecting external terminals to the main controllers, such as SoCs (System on a chip) and other components within the ECU (control unit).

[0006] These systems are usually protected with firewalls or other security systems to prevent the installation of malware.

[0007] This allows data authentication to be performed in order to validate the source and / or content of the file before execution.

[0008] Only encrypted data can be exchanged, which can be encrypted and decrypted using, for example, a public key and a private key.

[0009] DE 10 2017 218 329 A1 discloses a method for controlling access to an authentication-related function of a device, and in particular a vehicle, by means of a smart device or smartphone, in which, for authentication purposes, an authentication feature of the smart device is compared with a stored authentication feature of the device and, if they are identical or sufficiently similar, authentication is recognized, the authentication is subject to an approval process by a user of the smart device, in which it is determined whether the user approves the authentication or not, the approval process has at least one channel in a protected area of ​​the smart device and / or is itself embedded in the protected area, which lies outside an area of ​​the operating system, the applications and / or the apps of the smart device, and the function of the device is executed.when authentication and consent are present.

[0010] However, skilled hackers can bypass many security measures.

[0011] This increases the risk of malicious software commands being downloaded / installed into the control modules. Examples of such attacks include those that reprogram the vehicle electronics and control modules, manipulate vehicle components, etc., which can lead to undesirable and dangerous behavior of the vehicle system.

[0012] This is particularly dangerous when controlling braking. If the braking system is infected with malware, an emergency stop can be triggered even when it is not necessary.

[0013] Therefore, one object of the invention is to increase the reliability of a vehicle's braking system in order to avoid dangerous activations / deactivations of the braking system caused by external interference / malware.

[0014] This problem is solved by a braking system having the features of claim 1, and a vehicle having the features of claim 15.

[0015] Preferred embodiments of the invention are set out in the dependent claims, which can be suitably combined with one another.

[0016] The task is solved by a braking system for a vehicle, the braking system comprising a brake control unit designed to control an actuator that regulates the braking force, a wireless communication unit configured to receive external data through an external device, and an online receiving unit configured to receive vehicle data from one or more in-vehicle devices via one or more first input channels, as well as at least some external data via the wireless communication unit, wherein the online receiving unit is further configured to recognize a necessary braking situation as online information from the received external data and vehicle data, and a first offline receiving unit, wherein the first offline receiving unit is configured to receive at least part of the identical vehicle data from one or more in-vehicle devices via one or more second input channels, and to recognize the necessary braking situation as a first offline piece of information from the received vehicle data, and at least a second offline receiving unit, wherein the at least one second offline receiving unit comprises one or more sensors arranged to detect at least the traffic situation in the direction of travel as traffic data, and wherein the at least one second offline receiving unit is configured to recognize the necessary braking situation as a second piece of offline information from the received traffic data. and a comparator which is trained to compare the online information and the first and second offline information and, based on the comparison, to generate a positive or a negative result, and in the case of a positive result, to transmit this to the brake control for activation of the brake control.

[0017] Vehicle-internal devices include, for example, vehicle sensors and / or actuators, which are located directly in or on the vehicle to generate sensor data / command data, etc.

[0018] An online receiving unit is coupled to external devices, such as V2V (vehicle-to-vehicle) or V2X (vehicle-to-everything) communication. This coupling takes place via the wireless communication unit, which is specifically designed as a radio interface.

[0019] The invention recognizes that, particularly with regard to braking systems, increased caution is necessary to prevent hackers from taking control of the braking system. Successful hacking attacks on aircraft, for example, are known.

[0020] Normally, V2X / V2V systems are protected from malicious behavior by various resources such as firewalls and other state-of-the-art software protection mechanisms. However, every connected system is potentially vulnerable to new hacking technologies.

[0021] In the case of a braking system, hackers could install malware or even completely take over the control of the braking system. This could lead to accidents that endanger the lives of the driver and other road users.

[0022] The combination of the online receiver unit and the first and second offline receiver units according to the invention, the second of which records the traffic situation in the direction of travel, as well as the comparison by the comparator, results in a high level of security against external attacks. Therefore, the invention allows obstacles in the vehicle's path to be reliably detected, thus enabling a necessary braking situation to be identified in order to avoid a collision between the vehicle and the obstacle.

[0023] According to the invention, the brake control is only activated if the comparator generates a positive result based on the comparison. A positive result occurs, for example, if the necessary braking situation is detected by at least two receiving units from the set of offline receiving units and / or the first offline receiving unit and / or the second offline receiving unit. Preferably, the brake control can be deactivated in the event of a negative result; a negative result occurs, for example, if the braking situation is detected only once in the receiving units.

[0024] This ensures a high level of reliability in detecting braking situations / emergency situations. The brake control system is only activated if a positive result is obtained. This allows for the detection of false data transmitted by malware, such as "vehicle ahead, emergency braking required," and prevents emergency braking based on such false data.

[0025] In the best-case scenario (or under normal circumstances), the information is identical. For example, the information "pedestrian on the road, emergency braking," etc., which is generated by the online receiving unit using vehicle data and external data, can be validated against the information "pedestrian on the road, emergency braking," which is generated by the first offline receiving unit solely based on vehicle data and which is determined by at least a second offline receiving unit solely based on the recorded and evaluated traffic situation in the direction of travel.

[0026] Thus, on the one hand, the braking system according to the invention can prevent, for example, a faulty detection of a braking situation and therefore an emergency braking action that could lead to a dangerous traffic situation, and on the other hand, it can prevent a malfunction caused by malware.

[0027] Furthermore, it is known that emergency braking systems based on only one camera often exhibit low reliability, as the camera only provides two-dimensional images. However, especially during a necessary emergency stop, reliable detection is crucial to protect other road users. The invention therefore not only detects false information that leads to unnecessary emergency braking, but also identifies incorrect interpretations that can likewise result in unnecessary emergency braking.

[0028] Furthermore, the design of the braking system according to the invention means that the at least one second offline receiving unit does not need to meet any ASIL (Automotive Safety Integrity Level) requirements, since the at least one second offline receiving unit only serves to validate the detected information. This allows the use of more cost-effective sensors, for example, with lower resolution.

[0029] Furthermore, the recordings of traffic events by the second offline receiving unit can provide valuable data for the plausibility, and subsequently for the validity, of certain road situations for the braking system.

[0030] The braking system according to the invention thus ensures diversity and independence at the three inputs to the comparator through the different receiving units. This means that the two offline receiving units would have to be physically removed to allow manipulation.

[0031] Ideally, all vehicle data is received by both the online receiver and the first offline receiver. This ensures reliable detection of the same necessary braking situation by the first offline receiver.

[0032] Preferably, the first offline receiving unit is designed as a less complex component than the online receiving unit. This can save costs.

[0033] Furthermore, the online receiver and the wireless communication unit can be arranged on a single component or designed as a single component. Preferably, if the comparator detects a negative result, it transmits this information to the brake control unit to deactivate the brake control.

[0034] Preferably, the comparator is configured to generate a positive result if the necessary braking situation is detected as information at least twice in the online receiving unit and / or in the first offline receiving unit and / or the second offline receiving unit. This ensures the reliability / validation of the detection of a necessary braking situation. The comparator is further configured to transmit the positive result to the brake control unit for activation. Upon a positive result based on the detected information (full braking / braking), the brake control unit is activated.

[0035] In a preferred configuration, the online receiving unit is designed to consider only external data with temporal validity when detecting a necessary braking situation. This means that only those external data from, for example, V2X / V2V communication (external device) that have temporal validity are used: An external transmission of a (false) object that is supposed to be directly in front of the vehicle from one moment to the next is thus recognized as false or sabotaged information.

[0036] This means that only external data with a temporal validity period may be considered valid data. Temporal validity could be, for example, a freely configurable value of a few milliseconds.

[0037] In a preferred configuration, the online receiving unit is designed to only consider external data that indicates a minimum distance to the calculated collision point as a necessary braking situation in the event of a detected collision risk. This prevents emergency braking due to incorrect external data (malware). For example, situations involving pedestrians who are not present in reality but suddenly appear in the external data directly in front of the vehicle are not taken into account.

[0038] In a further preferred embodiment, the online receiving unit is configured to only consider external data that exhibits a direction vector. This takes into account that the transmitted signal or external data must have a "vector," or at least a direction, since every object that could potentially collide has a direction. This also allows for the detection of falsified external data.

[0039] Preferably, the one or more in-vehicle devices are connected to both the online receiving unit and the first offline receiving unit for the identical transmission of all vehicle data. This ensures the same information provision, which is generated exclusively by the vehicle or its vehicle sensors themselves.

[0040] Preferably, the first and second input channels are separated from each other. This increases security.

[0041] Preferably, the comparator is configured to generate a negative result if the necessary braking situation has only been detected once as information in the online receiving unit, or in the first offline receiving unit, or at least in the second offline receiving unit. Preferably, a warning is issued to the driver in the event of a negative result. This allows the driver to detect that either a security risk (hacking attack) is present, or, for example, that a vehicle system (vehicle sensors) used to determine vehicle / traffic data is defective. The warning enables the driver to exercise increased caution.

[0042] Preferably, the wireless communication unit is designed for vehicle-to-vehicle (V2V) or vehicle-to-environment (V2X) communication. This allows for easy reception of external data. Preferably, the wireless communication unit is designed for bidirectional communication. This promotes autonomous operation.

[0043] Preferably, the one or more sensors of the second offline receiving unit include at least one image sensor. This could be, for example, a dashcam, a mobile device, or another type of camera. Such a mobile device can have an opening angle of up to 120°, a high recording rate of up to 60 fps, and a resolution of 12 megapixels, enabling high-resolution recording of traffic events with a wide field of view.

[0044] Preferably, the brake control is designed to perform the necessary braking by means of the actuator if the result is positive.

[0045] These cameras are very powerful and preferably feature a driver assistance application with voice or image output to the driver. Furthermore, they have a human-machine interface, which can be a display or a speaker, for example. At least one second offline receiver is positioned, for instance, directly behind the windshield or on / at the dashboard, allowing it to easily capture the traffic situation in the direction of travel.

[0046] Preferably, both the online receiving unit and the first offline receiving unit are equipped with an artificial learning system, such as an artificial neural network, to recognize a necessary braking situation as information. Similarly, artificial intelligence methods can be used to recognize a necessary braking situation in the traffic data of the second offline receiving unit, usually images from an image sensor.

[0047] Furthermore, a display is provided, which is positioned on the vehicle and visible to at least the driver. The braking system is also designed to display information on the screen when a positive result is detected. Alternatively, the comparator can also be designed to display this necessary braking situation. This allows the vehicle occupants, especially the driver, to prepare for this (emergency) braking.

[0048] Preferably, the comparator is configured to compare the online information received by the online receiving unit, which is recognized as a necessary braking situation, with the first offline information received by the first offline receiving unit, which is also recognized as a necessary braking situation, and with the second offline information received by at least the second offline receiving unit, which is also recognized as a necessary braking situation. The comparator then weights these comparisons differently and generates a positive or negative result depending on the weighted comparison. For example, a confidence interval can be formed, and a positive or negative result can be generated based on this confidence interval.

[0049] In a further preferred embodiment, at least one additional offline receiving unit is provided, wherein the additional offline receiving unit is configured to receive at least further data from additional vehicle sensors arranged on or in the vehicle, preferably via one or more additional input channels, and to recognize the necessary braking situation as further offline information from the received additional data and transmit it to the comparator, wherein the comparator is configured to compare the online information with the first offline information, the second offline information, and the further offline information, and to generate a positive or negative result based on the comparison. Such additional offline receiving units can, for example, be image sensors that cover the respective lateral surroundings of the vehicle. This allows for improved environmental recordings of the traffic situation in the direction of travel.Other sensors (Lidar radar, etc.) can also be used as additional offline receiving units. The information generated by these additional offline receiving units can, for example, be transmitted to the comparator and weighted within it or before transmission. Based on all the transmitted information from all offline receiving units as well as the online receiving unit, a positive or negative result can be reliably generated.

[0050] Furthermore, the online receiving unit is preferably configured to evaluate all received vehicle data and external data itself. The first offline receiving unit is preferably configured to evaluate all received vehicle data itself, and at least one second offline receiving unit is also configured to evaluate traffic data itself. This also helps prevent the spread of malware and the associated dissemination of false information.

[0051] Preferably, both the first offline receiving unit and the online receiving unit are arranged on a common substrate, in particular a semiconductor substrate. This eliminates the need for additional installation space. In this case, for example, the evaluation of the traffic data can be performed in the second offline receiving unit. Alternatively, the online receiving unit, the first offline receiving unit, and an evaluation unit of the second offline receiving unit can be arranged on a common substrate, in particular a semiconductor substrate.

[0052] Furthermore, the task is solved by a vehicle with a braking system as described above, whereby the vehicle is designed for autonomous operation. Vehicle sensors such as lidar, radar, camera, and ultrasonic sensors are provided for autonomous operation and can be used to generate vehicle and traffic data.

[0053] Further features and advantages of the claimed invention will become apparent from the following detailed description with reference to the accompanying drawings, which are given below as non-limiting examples.

[0054] The figures show schematically: Fig. 1: schematic representation of the brake system according to the invention in a first embodiment, Fig. 2: schematically the braking system according to the invention in a second embodiment, Fig. 3: schematically the braking system according to the invention in a third embodiment.

[0055] Fig. Figure 1 schematically shows a vehicle 2 with a braking system 1 according to the invention in a first embodiment. The vehicle 2 has actuators 18 which control the braking force and thus effect braking with varying force. This can be, for example, an engine braking force actuator for changing an engine braking force or a wheel braking force actuator for applying a braking force to the wheels. Such actuators usually have actuators.

[0056] Furthermore, a brake control unit 17 (controller) is provided, which controls the braking force of the actuator 18 based on various vehicle data.

[0057] Furthermore, a wireless communication unit 5 is provided, which is configured to receive external data via V2V (vehicle-to-vehicle) or V2X (vehicle-to-environment, vehicle-to-everything) communication 7. The wireless communication unit 5 can, for example, be designed as a radio link.

[0058] Using a V2V / V2X connection, vehicles can communicate with each other, for example to exchange their exact locations, speeds, and directions of travel. This increases road safety.

[0059] External data includes, for example, GPS data, control data, and information data from other vehicles, etc.

[0060] The braking system 1 has an online receiver unit 4 to receive vehicle data from one or more on-board / vehicle-integrated sensors 3a, 3b,..., 3n or actuators via one or more first input channels 8a, 9a, 10a, as well as external data via the wireless communication unit 5. Based on this on-board vehicle sensors 3a, 3b,..., 3n or actuators and the external data, a necessary braking situation is recognized as online information, if available.

[0061] The vehicle data is transmitted to the online receiving unit 4 via the first input channels 8a, 9a, 10a.

[0062] Such a detected braking situation could be, for example, "Attention object detected at a distance of 10 m; emergency braking".

[0063] The braking system 1 comprises a first offline receiver 6, which is configured to receive the preferably identical vehicle data from one or more on-board / vehicle-integrated vehicle sensors 3a, 3b,..., 3n or actuators via one or more second input channels 8b, 9b, 10b. The first offline receiver 6 is further configured to recognize, as a first offline piece of information, the same necessary braking situation from the received vehicle data, provided such a situation exists.

[0064] This means that the first offline receiver unit 6 receives the same vehicle data as the online receiver unit 4, but without external data. The vehicle data is transmitted to the first offline receiver unit 6 via the second input channels 8b, 9b, 10b. The first input channels 8a, 9a, 10a and the second input channels 8b, 9b, 10b are preferentially separated.

[0065] The first input channels 8a, 9a, 10a and the second input channels 8b, 9b, 10b can be wired or wireless.

[0066] Thus, the online receiver unit 4 and the first offline receiver unit 6 receive the vehicle data and the external data, respectively, independently of each other.

[0067] In normal operation, i.e. without failure of a vehicle sensor / actuator 3a, 3b,...,3n or a malfunction, the first offline receiver unit 6 and the online receiver unit 4 recognize identical information such as "Attention object detected at a distance of 10m, brake" when such a braking situation exists.

[0068] The braking system 1 has a second offline receiver unit 19, wherein the at least one second offline receiver unit 19 comprises one or more image sensors 14, in particular cameras, which are arranged, for example, on the front of the vehicle 2, in order to record at least the traffic situation in the direction of travel as traffic data.

[0069] The camera can be, for example, a modern mobile device or a dashcam. These are very powerful and have a human-machine interface in the form of a display or a speaker. The image sensor 14 can be designed as a driver assistance application with voice or image output to the driver. The image sensor 14, for example, the dashcam, is preferably located behind the windshield of the vehicle 2 or on / in the dashboard and captures traffic in the direction of travel. Such cameras can have an opening angle of up to 120° with a high recording rate, for example, 60 fps, and a resolution of 12 megapixels, so that traffic in the direction of travel can be captured well. The at least one second offline receiver 19 is designed to recognize a necessary braking situation as a second piece of offline information from the received traffic data.

[0070] Furthermore, a comparator 11 is provided, which is designed to compare the online information with the first and second offline information, that is, to compare whether the necessary braking situation has been detected in the individual receiving units 4, 6, 19. Based on this comparison, a positive or a negative result is generated.

[0071] A positive result is generated by comparator 11 if at least two of the receiving units 4, 6, 19 have detected the same necessary braking situation.

[0072] Here, for example, the identical braking situation "pedestrian detected at a distance of 10m, braking required" was detected. This means that a positive result occurs when the necessary braking situation is detected by two of the receiving units 4, 6, and 19. It should be noted that a positive result can also be generated if, for example, different settings are present in comparator 11.

[0073] Under normal circumstances, that is, without malware and without a malfunction of any of the vehicle sensors / actuators 3a, 3b, ..., 3n and image sensors 14, all information—that is, the online information recognized as a necessary braking situation and the first and second offline information—is identical. This means that all receiving units 4, 6, 19 recognize the same braking situation.

[0074] If such a positive result is present, a brake control unit 17 is activated, which controls the actuator 18 according to the detected braking situation. Alternatively, the positive result can also be generated in another way. For example, the individual offline / online information detected as a necessary braking situation can be weighted in the comparator 11, or a positive result is only generated if at least the second offline receiver unit 19 has detected the necessary braking situation as a second offline information, as well as one of the other two receiver units 4, 6.

[0075] If the comparator 11 produces a positive result, the brake control 17 is activated, so that the necessary braking (emergency braking) can take place according to the available vehicle data.

[0076] Deactivation can also occur if a negative result is generated by comparator 11. This can happen, for example, if the necessary braking situation is only detected in one of the receiving units 4, 6, or 19, such as only the online receiving unit 4. This deactivates the brake control 17, preventing any further braking.

[0077] The braking system 1 according to the invention prevents emergency braking when it is not required. This prevents hackers from introducing malware or false data into the vehicle's electrical system 2, for example, to simulate an object in the direction of travel. This prevents unnecessary braking and thus avoids dangerous traffic situations.

[0078] Furthermore, a display 13 is provided, which is positioned on the vehicle 2, for example on the dashboard, so that at least the driver can see it. When a necessary braking situation is detected, this information is displayed on the display 13.

[0079] In the event of a negative result, a warning can also be issued, for example, on display 13 or as a warning tone via a speaker (not shown).

[0080] Fig. Figure 2 schematically shows a vehicle 2 with a braking system 1a according to the invention in a second embodiment.

[0081] Vehicle 2 is equipped with actuators 18, which control the braking force and thus effect braking with varying force. Furthermore, the brake control unit 17 (controller) is present, which uses various vehicle data to control the braking force of the actuator 18.

[0082] Furthermore, the wireless communication unit 5 is present, which is configured to receive external data through V2V (vehicle-to-vehicle) or V2X (vehicle-to-environment, vehicle-to-everything) communication 7.

[0083] The braking system 1a has an online receiver unit 4a to receive vehicle data from one or more on-board / vehicle-integrated sensors 3a, 3b,...,3n or actuators via one or more first input channels 8a, 9a, 10a, as well as external data via the wireless communication unit 5. Based on this on-board vehicle sensors 3a, 3b,...,3n or actuators and the external data, a necessary braking situation is recognized as online information, if available. The vehicle data is transmitted to the online receiver unit 4a via the first input channels 8a, 9a, 10a.

[0084] The online receiving unit 4a is designed to only consider external data that has a temporal validity when detecting a necessary braking situation.

[0085] This means that the online receiving unit 4a only uses external data transmitted to vehicle 2 via V2X / V2V communication 7 that has a temporal validity period: An external transmission of a (false) object that is supposed to be immediately in front of vehicle 2 is thus recognized as false or sabotaged information. The temporal validity period can be set, for example, as a freely configurable value of seconds or milliseconds.

[0086] The online receiver unit 4a is furthermore designed to only consider external data that exhibit a direction vector. This follows from the fact that every collision-hazardous object essentially comes from somewhere, meaning it has a direction towards vehicle 2. If no direction to collision-hazardous objects is detected, incorrect external data (malware) may be detected.

[0087] Furthermore, the online receiving unit 4a is designed to only consider external data that indicates a minimum distance to the calculated collision point as a necessary braking situation in the event of a detected collision risk. This prevents emergency braking due to incorrect external data (malware).

[0088] Situations such as pedestrians, which do not exist in reality but suddenly appear in the external data directly in front of vehicle 2, are not taken into account. It follows that, depending on the speed, the point of collision risk must maintain a minimum distance from vehicle 2.

[0089] The braking system 1a also includes the first offline receiver unit 6, which is configured to receive the preferably identical vehicle data from one or more on-board / vehicle-integrated vehicle sensors 3a, 3b, ..., 3n or actuators via one or more secondary input channels 8b, 9b, 10b. The braking system 1a is further configured to recognize, as a first offline piece of information, the same necessary braking situation from the received vehicle data, provided such a situation exists.

[0090] In normal operation, i.e. without failure of a sensor / actuator 3a, 3b,..., 3n or a malfunction, the first offline receiving unit 6 and the online receiving unit 4a generate identical information such as "Attention object detected at a distance of 10m, brake" when a braking situation occurs.

[0091] The braking system 1a has the second offline receiver unit 19, wherein the at least one second offline receiver unit 19 comprises one or more image sensors 14, in particular cameras, which are arranged to record at least the traffic events in the direction of travel as traffic data.

[0092] In normal operation, i.e. without failure of a vehicle sensor / actuator 3a, 3b,..,3n or a malfunction, the first offline receiver unit 6 and the online receiver unit 4a as well as the second offline receiver unit 19 generate identical information such as "Attention object detected at a distance of 10m, brake" when a braking situation occurs.

[0093] Furthermore, comparator 11 is provided, which is designed to compare the online information with the first and second offline information, that is, to compare whether the braking situations have been detected in the individual receiving units 4a, 6, 19. A positive or negative result is generated based on this comparison.

[0094] Here, for example, the identical braking situation "pedestrian detected at a distance of 10m, braking required" was detected. This means that a positive result occurs when the necessary braking situation is detected by two of the receiving units 4a, 6, and 19. It should be noted that a positive result can also be generated if, for example, different settings are present in comparator 11.

[0095] If such a positive result is obtained, a brake control 17 is activated, which controls the actuator 18 according to the detected braking situation.

[0096] The online receiver unit 4a and the first offline receiver unit 6 are arranged on a common carrier plate 12, in particular a semiconductor substrate. This eliminates the need for additional installation space. Furthermore, for example, an evaluation unit (not shown) of the second offline receiver unit 19 can also be arranged on the carrier plate 12, and only the image sensor 14 of the second offline receiver unit 19 for recording the traffic situation in the direction of travel can be arranged on the vehicle 2.

[0097] Fig. Figure 3 schematically shows a vehicle 2 with a braking system 1b according to the invention in a third embodiment.

[0098] Vehicle 2 has actuators 18 and brake control 17 (controller). Furthermore, brake system 1b has wireless communication unit 5. Brake system 1b has offline receiver unit 4 to receive vehicle data from one or more onboard / vehicle sensors 3a, 3b,..., 3n or actuators via one or more first input channels 8a, 9a, 10a, as well as external data via wireless communication unit 5.

[0099] The braking system 1b also includes the first offline receiving unit 6, which is designed to receive the preferably identical vehicle data from one or more on-board / vehicle-owned vehicle sensors 3a, 3b,...,3n or actuators via one or more second input channels 8b,9b,10b.

[0100] The braking system 1b has the second offline receiver unit 19, wherein the at least one second offline receiver unit 19 comprises one or more image sensors 14, in particular cameras, which are arranged to capture at least the traffic events in the direction of travel as traffic data.

[0101] The braking system 1b has a third offline receiver unit 15 and a fourth offline receiver unit 16, each of which has at least one image sensor (not shown) for capturing traffic data laterally and in the direction of travel. The necessary braking situation can also be recognized from this traffic data by the third offline receiver unit 15 and the fourth offline receiver unit 16 as the third and fourth offline information.

[0102] Furthermore, comparator 11 is provided, which is designed to compare the online information with the first, second, third, and fourth offline information, meaning to compare whether the necessary braking situation has been detected in the individual receiving units 4, 6, 19, 15, and 16. A positive or negative result is generated based on this comparison. The individual pieces of information can be weighted to contribute to a positive result in comparator 11.

[0103] If such a positive result is obtained, the brake control 17 is activated, which controls the actuator 18 according to the detected braking situation. Reference sign 1,1a,1b Braking system 2 vehicles 3a, 3b, 3n Vehicle sensors 4.4a Online receiving unit 5 Communication unit 6 first offline receiver unit 7 Communication 8a first input channel 8b second input channel 9a first input channel 9b second input channel 10a first input channel 10b second input channel 12 Carrier plate 13 Display 14 image sensor 15 third offline receiver unit 16 fourth offline receiving unit 17 Brake control 18 Actuator (brake)

Claims

[1] Braking system (1, 1a, 1b) for a vehicle (2), comprising the braking system (1, 1a, 1b), a brake control (17) configured to control an actuator (18) controlling the braking force, a wireless communication unit (5) configured to receive external data through an external device, and an online receiving unit (4, 4a) configured to receive vehicle data from one or more in-vehicle devices via one or more first input channels (8a, 9a, 10a) as well as at least some of the external data via the wireless communication unit (5), wherein the online receiving unit (4, 4a) is further configured to recognize a necessary braking situation as online information from the received external data and vehicle data, and a first offline receiving unit (6), wherein the first offline receiving unit (6) is configured to receive at least part of the identical vehicle data from one or more in-vehicle devices via one or more second input channels (8b, 9b, 10b) and to recognize the necessary braking situation as a first offline information from the received vehicle data; at least a second offline receiving unit (19), wherein the at least one second offline receiving unit (19) comprises one or more sensors arranged to detect at least the traffic situation in the direction of travel as traffic data, and wherein the at least one second offline receiving unit (19) is configured to recognize the necessary braking situation as a second offline information from the received traffic data; and a comparator (11) which is designed to compare the online information and the first and second offline information and to generate a positive or negative result based on the comparison, and in the case of a positive result, to transmit this to the brake control (17) for activation of the brake control (17). [2] Braking system (1,1a,1b) according to claim 1, characterized by , that the comparator (11) is designed to generate a positive result when the necessary braking situation has been detected as information at least twice in the online receiver (4,4a) and / or in the first offline receiver (6) and / or the second offline receiver (19) and to transmit the positive result to the brake control (17) to activate the brake control (17). [3] Braking system (1,1a,1b) according to claim 1 or 2, characterized by, that the online receiving unit (4,4a) is designed to consider only external data that have a temporal validity when detecting a necessary braking situation. [4] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that the online receiving unit (4,4a) is designed to consider only external data that have a direction vector. [5] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that the one or more in-vehicle devices are connected to the online receiver unit (4,4a) as well as to the first offline receiver unit (6) for the identical transmission of all vehicle data. [6] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that the first input channels (8a,9a,10a) and the second input channels (8b,9b,10b) are separated from each other. [7] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that the comparator (11) is designed to produce a negative result if the necessary braking situation has been detected only once as information in the online receiving unit (4,4a) or in the first offline receiving unit (6) or at least the second offline receiving unit (19) and to issue a warning in the event of a negative result. [8] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that the wireless communication unit (5) is designed for vehicle-to-vehicle or vehicle-to-environment communication (7). [9] Braking system (1, 1a, 1b) according to any one of the preceding claims, characterized by that the one or more sensors of the second offline receiving unit (19) include at least one image sensor (14). [10] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by, that the brake control (17) is designed to perform the necessary braking by means of the actuator (18) if the result is positive. [11] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that a display (13) is provided which is arranged on the vehicle (2) so that at least the driver can see it, and wherein the braking system (1,1a,1b) is designed to display this information on the display (13) when the result is positive. [12] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by, that the comparator (11) is designed to compare and weight differently the online information received by the online receiving unit (4,4a) which is recognized as a necessary braking situation and / or the first offline information received by the first offline receiving unit (6) which is recognized as a necessary braking situation and the second offline information received by at least the second offline receiving unit (19) which is recognized as a necessary braking situation, and to produce a positive or a negative result depending on the weighted comparison. [13] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by, that at least one further offline receiving unit (15, 16) is provided, wherein the further offline receiving unit (15, 16) is configured to recognize the necessary braking situation as further offline information and to transmit it to the comparator (11), and wherein the comparator (11) is configured to compare the online information and the first and second offline information and the further offline information and to generate a positive or a negative result based on the comparison. [14] Braking system (1, 1a, 1b) according to any of the preceding claims, characterized by , that the online receiving unit (4,4a) is configured to evaluate all received vehicle data and external data itself, and the first offline receiving unit (6) is configured to evaluate all received vehicle data itself, and at least one second offline receiving unit (19) is configured to evaluate the traffic data itself. [15] Vehicle (2) with a braking system (1,1a,1b) according to one of the preceding claims, wherein the vehicle (2) is designed for autonomous operation.

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