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

Abstract

The invention relates to a brake system for a vehicle, the brake system (1, 1a, 1b) having a brake controller (17) configured to control a servo drive (18) for controlling a brake force, a wireless communication unit (5) configured to receive external data, and an online receiving unit (4, 4a) configured to receive vehicle data from one or more vehicle internal devices, also at least partly external data, wherein the online receiving unit (4, 4a) is further configured to identify a necessary braking situation as online information from the received external data and vehicle data, a first offline receiving unit (6), wherein the first offline receiving unit (6) is configured to receive at least a part of the same vehicle data from one or more vehicle internal devices and to identify a necessary braking situation as first offline information from the received vehicle data, at least one 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 a traffic event in the driving direction as traffic data, and wherein the at least one second offline receiving unit (19) is configured to identify a necessary braking situation as second offline information from the received traffic data, a comparator (11) configured to compare the online information and the first and second offline information and to produce a positive result or a negative result in combination with the comparison, and to transmit the positive result to the brake controller (17) when positive for enabling the brake controller (17). The invention also relates to a vehicle having such a brake system.

Description

TECHNICAL FIELD

[0001] The present invention relates to a brake system of a vehicle and a vehicle having such a brake system. BACKGROUND

[0002] A vehicle contains various processors which generate instructions in combination with sensor data / servo drive data to control various modules of the vehicle, such as infotainment, electric motor, drive battery, chassis controller, brakes, transmission, air conditioning control, etc. At the same time, the processors obtain instructions to control or operate modules of the vehicle in combination with external data, such as infotainment / navigation.

[0003] Modern driver assistance systems are able to completely avoid an impending collision or at least minimize the consequences of a collision by means of a full brake activation initiated autonomously. These systems detect the area surrounding the vehicle and learn of possible collision objects by means of suitable sensors (radar, lidar, image processing) and by means of an evaluation of vehicle-to-vehicle communication (V2V) or vehicle-to-external environment communication (V2X).

[0004] For this purpose, vehicles are increasingly connected to a communication network. The emergence of V2V communication and V2X communication via radio and the development of the Internet of Things open up countless possibilities.

[0005] This opens up, for example, the possibility of connecting external terminals to main controllers, such as SoCs (system on chips) and other components within ECUs (control units).

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

[0007] Data verification can then be carried out in order to verify the origin and / or content of a file before execution.

[0008] It is also possible to exchange only encrypted data, which can be encrypted and decrypted, for example, using a public key and a private key.

[0009] DE 10 2017 218 329 A1 discloses a method for controlling access to a function of a device and in particular of a vehicle, which is relevant to authentication, by means of a smart device or smartphone, wherein, for authentication, an authentication feature of the smart device is compared with a stored authentication feature of the device, and in the case of identity or sufficient agreement, authentication is recognized, which is subject to a consent process by the user of the smart device, in which it is established whether the user consents to the authentication, the consent process having at least one passage within a protected area of the smart device and / or being embedded in a protected area itself, the protected area being outside the area of the operating system, applications and / or application programs of the smart device, and if authentication and consent are present, the function of the device is executed.

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

[0011] There is thus an increased risk of malware instructions being downloaded / installed into the control module. An example of such an attack is an attack on the vehicle electronics and control module, an attack on the vehicle components, etc., which can result in undesired dangerous behaviour of the vehicle system.

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

[0013] The task is thus to improve the reliability of the braking system of a vehicle in order thus to prevent external attacks / malware from resulting in dangerous activation / deactivation of the braking system.

[0014] The task is solved by the braking system and the vehicle according to the invention.

[0015] Preferred refinements of the invention are shown below, which can be combined with one another as appropriate.

[0016] The task is solved by a braking system of a vehicle, which has a brake controller configured to control a servo drive for controlling a brake force, a wireless communication unit configured to receive external data via an external device, and

[0017] an online receiving unit configured to receive vehicle data from one or more vehicle internal devices via one or more first input channels and at least partly external data via the wireless communication unit, wherein the online receiving unit is further configured to identify a necessary braking situation as online information from the received external data and vehicle data, and

[0018] a first offline receiving unit, wherein the first offline receiving unit is configured to receive at least a part of the same vehicle data of the one or more vehicle internal devices via one or more second input channels and to identify a necessary braking situation as first offline information from the received vehicle data, and

[0019] at least one second offline receiving unit, wherein the at least one second offline receiving unit comprises one or more sensors arranged to detect at least a traffic event in the direction of travel as traffic data, and wherein the at least one second offline receiving unit is configured to identify a necessary braking situation as second offline information from the received traffic data,

[0020] and a comparator configured to compare the online information and the first and second offline information and to generate a positive result or a negative result in connection with the comparison, the positive result being transmitted to the brake controller for activating the brake controller when the positive result is present.

[0021] The vehicle interior devices are, for example, vehicle sensors and / or servo drives, which are arranged directly in or on the vehicle for generating haptics data / instruction data, etc.

[0022] The online receiving unit is coupled to an external device, for example a V2V (vehicle-to-vehicle) or V2X (vehicle-to-everything) communication unit. The coupling is implemented by means of a wireless communication unit. In particular, it is configured as a wireless interface.

[0023] It is known from the prior art that in brake systems, hackers who can take over control of the brake system must be identified. Successful hacking attacks are known, for example, in aircraft.

[0024] Generally, V2X / V2V systems are protected against malicious behavior by various resources, such as firewalls and other state-of-the-art software protection mechanisms. However, each connected system potentially has the possibility of being attacked by new hacking techniques.

[0025] In the case of a brake system, a hacker can install malicious software / adware or perhaps completely take over control of the brake system. This can, however, lead to accidents that threaten the lives of the driver and other road users.

[0026] By combining the online receiving unit according to the invention and the first and second offline receiving units according to the invention, in which the second offline receiving unit acquires traffic events in the direction of travel, according to the invention, and by comparison by means of the comparator, a higher safety against attacks from the outside is achieved. Thus, by means of the invention, obstacles in the travel path of the vehicle can be reliably detected and thus necessary braking situations can be identified in order to avoid a collision of the vehicle with the obstacle.

[0027] According to the invention, the brake controller is activated only when the comparator generates a positive result in connection with the comparison. A positive result is present, for example, if a necessary braking situation is identified by at least two of the group consisting of the offline receiving unit and / or the first offline receiving unit and / or the second offline receiving unit. In the case of a negative result, the brake controller is preferably deactivated; a negative result is present, for example, if a braking situation is identified only once in the receiving units.

[0028] It is thus ensured that braking situations / emergencies are identified with high reliability. Thus, the brake controller is activated only when a positive result is present. False data transmitted by malicious software, for example "vehicle in front brakes urgently", can thus be identified or an emergency braking based on false data can be avoided.

[0029] However, in the best case (or in normal case), these information are identical. For example, the information "pedestrian on the lane, full braking" generated by the online receiving unit by means of vehicle data and external data can be verified with the information "pedestrian on the lane, full braking" generated by the first offline receiving unit only in combination with vehicle data and known by the at least one second offline receiving unit only in combination with the captured and evaluated traffic events in driving direction.

[0030] Thus, on the one hand, false recognition of braking situations and thus emergency braking, which can lead to dangerous traffic situations, is prevented, for example, by the braking system according to the invention, and on the other hand, malfunctions caused by malware can also be prevented.

[0031] Furthermore, it is known that emergency braking systems based on only one camera often have a lower reliability, since the camera used only sends two-dimensional images. However, when full braking is required, full braking must be reliably recognized in order to protect other road users. The invention thus not only recognizes false information that leads to unnecessary emergency braking, but also false evaluations that can also lead to unnecessary emergency braking.

[0032] By means of the embodiment of the braking system according to the invention, the at least one second offline receiving unit does not necessarily have to meet any ASIL level (Automotive Safety Integrity Level), since the at least one second offline receiving unit is only used to verify the recognized information. Thereby, inexpensive sensors with, for example, a lower resolution can be used.

[0033] Furthermore, by capturing traffic events by the second offline receiving unit, valuable data for the braking system can be provided for the reliability (below, for the verification thereof) of a determined road situation.

[0034] Thus, by means of the braking system according to the invention, diversity on the three inputs of the comparator is ensured by different receiving units and at the same time independence. The two offline receiving units must thus be physically remote in order to achieve manipulability.

[0035] All vehicle data are preferably received by the online receiving unit and the first offline receiving unit. Thus, it can be ensured that the same necessary braking situations are reliably recognized by the first offline receiving unit.

[0036] The first offline receiving unit is preferably designed as a simpler component compared to the online receiving unit. Thereby, costs can be saved. Furthermore, the online receiving unit and the wireless communication unit can be arranged on one component or designed as one component. The comparator preferably transmits a negative result to the brake controller for deactivating the brake controller.

[0037] The comparator is preferably configured for generating a positive result if the necessary braking situation is identified at least twice as information in the online receiving unit and / or in the first offline receiving unit and / or in the second offline receiving unit. Thereby, it can be ensured that the necessary braking situation is reliably / authentically identified. The comparator is further configured for transmitting the positive result to the brake controller for activating the brake controller. Here, the brake controller is activated according to the identified information (full braking / braking) when the positive result.

[0038] In a preferred embodiment, the online receiving unit is configured for only considering external data having a certain timeliness when identifying the necessary braking situation. This means that only external data from e.g. a V2X / V2V communication unit (external device) and having a certain timeliness are used: Thereby, the foreign communication of a (false) object directly in front of the vehicle the next moment is identified as false or malicious information.

[0039] This means that only external data having a certain timeliness are allowed to be considered as valid data. The timeliness is e.g. a freely parameterizable value of a few seconds (milliseconds).

[0040] In a preferred embodiment, the online receiving unit is configured for only considering external data having a certain minimum distance to the calculated collision position when the collision danger is identified as the necessary braking situation. Thereby, an emergency braking based on false external data (malware) is avoided. In this way, a situation of a pedestrian suddenly emerging directly in front of the vehicle in the external data (e.g. not existing in reality) can not be considered.

[0041] In another preferred embodiment, the online receiving unit is configured for only considering external data having a direction vector. Thereby, it is taken into account that the incoming signal or external data must have a "vector", at least one direction, since every object with a collision danger has one direction. Thereby, false external data can also be identified.

[0042] In addition, one or more vehicle internal devices are preferably connected to the online receiving unit and to the first offline receiving unit for transmitting all vehicle data identically. Thereby, it is ensured that the same information is provided which is only generated by the vehicle or its vehicle sensors themselves.

[0043] The first input channel and the second input channel are preferably separate from each other. Thereby, the safety is increased.

[0044] The comparator is preferably configured to produce a negative result if only one necessary braking situation is identified as information in the online receiving unit or in the first offline receiving unit or in at least the second offline receiving unit. A warning is preferably sent to the driver in the case of a negative result. It is thus possible to identify either a safety factor (hacking attack) or a damaged vehicle system (vehicle sensors) for obtaining vehicle data / traffic data. The driver can increase his attention through the warning.

[0045] Furthermore, the wireless communication unit is preferably designed as a vehicle-to-vehicle (V2V) or vehicle-to-external environment (V2X) communication. External data can thus be received simply. The wireless communication unit is preferably a bidirectional communication. Autonomous operating modes can thus be facilitated.

[0046] In addition, the one or more sensors of the second offline receiving unit preferably comprise at least one image sensor. This can be, for example, a dashcam, a mobile terminal device or another camera. Such a mobile terminal device can have an aperture angle of up to 120°, a high frame rate of up to 60 fps and a resolution of 12 megapixels, so that traffic events can be filmed with high resolution and high acquisition range.

[0047] The brake controller is preferably configured to execute the necessary braking by means of a servo drive in the case of a positive result.

[0048] Such cameras are very powerful and preferably have driver assistance applications that output speech or images to the driver. Furthermore, they also have a human-machine interface (Human-Machine-Interface) that is designed, for example, as a display or a loudspeaker. At least one second offline receiving unit is, for example, arranged directly behind the front windshield or on / next to the dashboard, so that traffic events in the direction of travel can be detected simply.

[0049] The online receiving unit and the first offline receiving unit preferably have an artificial learning system, for example an artificial neural network, to identify the necessary braking situation as information. Artificial intelligence methods can likewise be used to identify the necessary braking situation in the traffic data of the second offline receiving unit, primarily images from image sensors.

[0050] Furthermore, a display is provided, which is arranged on the vehicle such that it is at least visible to the driver, and wherein the brake system is also configured to display the positive result as information on the display in the case of a positive result. Alternatively, the comparator can also be used to display the necessary braking situation on the display. The vehicle occupants, in particular the driver, can thus be prepared for the (emergency) braking.

[0051] Further, the comparator is preferably configured to compare the online information received by the online receiving unit, which is identified as a necessary braking situation, with the first offline information received by the first offline receiving unit, which is identified as a necessary braking situation, and the second offline information received by at least the second offline receiving unit, which is identified as a necessary braking situation, and to weight them differently, and to generate a positive result or a negative result in dependence on the weighted comparison. Thus, for example, a confidence interval can be formed and a positive result or a negative result is generated in dependence on the confidence interval.

[0052] In a further preferred embodiment, at least one further offline receiving unit is provided, wherein the further offline receiving unit is configured to receive further data from at least a further vehicle sensor arranged in or on the vehicle, preferably via one or more further input channels, and to identify necessary braking situations from the received further data as further offline information, and to transmit them to the comparator, and wherein the comparator is configured to compare the online information and the first offline information and the second offline information and the further offline information and to generate a positive result or a negative result in conjunction with the comparison. Such a further offline receiving unit can be, for example, an image sensor, which covers the respective lateral environment of the vehicle. Thereby, a better environmental acquisition of traffic events in the direction of travel can be achieved. Other sensors (lidar, radar, etc.) can also be considered as further offline receiving units. The information generated in these further offline receiving units can be transmitted to the comparator and weighted in the comparator or before transmission to the comparator. In conjunction with all the information transmitted by all the offline receiving units and the online receiving unit, a positive result or a negative result can be safely generated.

[0053] The online receiving unit is preferably also configured to evaluate all the received vehicle data and external data itself. Here, the first offline receiving unit is preferably configured to evaluate all the received vehicle data itself, and wherein at least one second offline receiving unit is likewise configured to evaluate the traffic data itself. Thereby, the spread of malware and the false information associated therewith can also be prevented.

[0054] The first offline receiving unit and the online receiving unit are preferably arranged on a common carrier plate, in particular a semiconductor substrate. Thereby, no additional installation space is required. In this case, the evaluation of the traffic data can be carried out, for example, in the second offline receiving unit. Alternatively, the online receiving unit and the evaluation units of the first offline receiving unit and the second offline receiving unit can also be arranged on a common carrier plate, in particular on a semiconductor substrate.

[0055] Furthermore, the task is solved by a vehicle having a brake system as described above, wherein the vehicle is configured for autonomous operation. Here, vehicle sensors (e.g. laser radar, radar, camera, ultrasound sensor) are provided for autonomous operation, which can be used to generate vehicle data and traffic data. BRIEF DESCRIPTION OF DRAWINGS

[0056] Further features and advantages of the claimed invention can be gleaned from the following detailed description with reference to the drawings, which are described below as non-restricting examples.

[0057] schematically shown in the drawings:

[0058] Figure 1 a brake system according to the invention is schematically shown according to a first embodiment,

[0059] Figure 2 a brake system according to the invention is schematically shown according to a second embodiment,

[0060] Figure 3 a brake system according to the invention is schematically shown according to a third embodiment. DETAILED DESCRIPTION

[0061] Figure 1 A vehicle 2 having a brake system 1 according to the invention is schematically shown in the first embodiment. The vehicle 2 has a servo drive 18, which controls the brake force and brings about braking with different forces. This can be, for example, an engine brake force servo drive for varying the engine brake force or a wheel brake force servo drive for applying a brake force to the wheels. Such a servo drive has a common actuator. In addition, there is a brake controller 17 (Controller), which controls the brake force of the servo drive 18 in combination with various different vehicle data.

[0062] In addition, there is a wireless communication unit 5, which is configured to receive external data via a V2V (vehicle-to-vehicle) or V2X (vehicle-to-external environment, vehicle-to-anything) communication 7. The wireless communication unit 5 can be designed, for example, as a radio connection.

[0063] The vehicles can communicate with each other, for example, by means of the V2V / V2X communication 7, for example, in order to exchange their exact location / speed and direction of travel with each other. Thereby, traffic safety is improved.

[0064] The external data is, for example, GPS data or also control data, for example, information data of other vehicles, etc.

[0065] The brake system 1 has an online receiving unit 4 for receiving vehicle data from one or more vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators via one or more first input channels 8a, 9a, 10a and also external data via a wireless communication unit 5. From these vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators and in combination with the external data, a necessary braking situation is identified as online information, if such a situation exists.

[0066] These vehicle data are transmitted to the online receiving unit 4 via the first input channels 8a, 9a, 10a.

[0067] Such a known braking situation can be, for example, "Attention! Object identified 10 m away; emergency braking".

[0068] The brake system 1 has a first offline receiving unit 6 for receiving preferably the same vehicle data from one or more vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators via one or more second input channels 8b, 9b, 10b. The first offline receiving unit 6 is also designed to identify the same necessary braking situation as first offline information from the received vehicle data, if such a situation exists.

[0069] This means that the first offline receiving unit 6 only gets the same vehicle data as the online receiving unit 4, but no external data. The vehicle data are transmitted to the first offline receiving unit 6 via the second input channels 8b, 9b, 10b. Here, the first input channels 8a, 9a, 10a and the second input channels 8b, 9b, 10b are preferably separate.

[0070] The first input channels 8a, 9a, 10a and the second input channels 8b, 9b, 10b can be designed as wired or wireless.

[0071] Thus, the online receiving unit 4 and the first offline receiving unit 6 obtain vehicle data and external data or vehicle data independently of one another.

[0072] In the normal mode, i.e. when the vehicle sensors / actuators 3a, 3b,..., 3n are not malfunctioning or faulty, the first offline receiving unit 6 and the online receiving unit 4 identify the same information, for example "Attention! Object identified 10 m away; braking", if such a braking situation exists.

[0073] The brake system 1 has a second offline receiving unit 19, wherein at least one second offline receiving unit 19 comprises one or more image sensors 14, in particular video cameras, which are arranged, for example, in the front of the vehicle 2 in order to detect at least traffic events in the direction of travel as traffic data.

[0074] The camera can be, for example, a modern mobile terminal device or a dashcam. They are very powerful and have more man-machine interfaces than displays or loudspeakers. The image sensor 14 can be designed with a driver assistance application that outputs speech or images to the driver. The image sensor 14, for example a dashcam, is preferably arranged behind the front windshield or on / beside the dashboard of the vehicle 2 and detects traffic in the driving direction. Such a camera can have an aperture angle of up to 120°, a frame rate of, for example, 60 fps and a resolution of 12 megapixels, so that traffic in the driving direction can be well detected. The at least one second offline receiving unit 19 is configured to identify a necessary braking situation from the received traffic data as second offline information.

[0075] Furthermore, a comparator 11 is provided, which is configured to compare the online information and the first and second offline information with one another, which means that it is compared whether a necessary braking situation is identified in each receiving unit 4, 6, 19. A positive or negative result is produced in connection with the comparison.

[0076] Here, a positive result is produced by the comparator 11 if the same necessary braking situation is identified in at least two of the receiving units 4, 6, 19.

[0077] Here, for example, the same braking situation "pedestrian identified at a distance of 10 m, braking necessary" is identified. This means that a positive result exists if two of the receiving units 4, 6, 19 identify a necessary braking situation. It should be noted that a positive result can also be produced, for example, if there are other settings in the comparator 11.

[0078] Under normal circumstances, i.e. in the case of a vehicle sensor / actuator 3a, 3b,.., 3n and the image sensor 14 without malware and without faults, all information, i.e. the online information and the first and second offline information, which is identified as a necessary braking situation, is identical. This means that all receiving units 4, 6, 19 identify the same braking situation.

[0079] If such a positive result exists, the brake controller 17 is activated, which controls the servo drive 18 in accordance with the identified braking situation. Alternatively, a positive result can also be produced in other ways. For example, the offline / online information of each identified necessary braking situation can be weighted in the comparator 11, or a positive result is only produced, for example, if at least the second offline receiving unit 19 identifies a necessary braking situation as second offline information and as in any of the other two receiving units 4, 6.

[0080] This enables the brake controller 17 in the case of a positive result by the comparator 11, so that the necessary braking (emergency braking) can be carried out on the basis of the existing vehicle data.

[0081] If the comparator 11 produces a negative result, a deactivation can also be carried out. This can be the case, for example, if the necessary braking situation is identified in only one of the receiving units 4, 6, 19, for example in the online receiving unit 4. The brake controller 17 is thereby deactivated, so that no braking can be carried out any more.

[0082] By means of the brake system 1 according to the application, an emergency braking is prevented when it is not necessary. This makes it possible to prevent hackers from introducing malicious software or false data into the vehicle network of the vehicle 2 in order to simulate, for example, an object in the direction of travel. It is thereby possible, for example, to prevent unnecessary braking. A dangerous traffic situation is thus avoided.

[0083] Furthermore, a display 13 is provided, which is arranged on the vehicle 2 such that it can be seen by at least the driver, for example on the dashboard. When a necessary braking situation is identified, this is displayed as information on the display 13.

[0084] In the case of a negative result, a warning can likewise be output, for example on the display 13 or by means of a loudspeaker (not shown).

[0085] Figure 2 A vehicle 2 with a brake system 1 according to the application is shown schematically in a second embodiment.

[0086] The vehicle 2 has a servo drive 18, which controls the braking force and brings about braking with different forces. In addition, there is a brake controller 17, which controls the braking force of the servo drive 18 in combination with various different vehicle data.

[0087] Furthermore, there is a wireless communication unit 5, which is configured to receive external data by means of a V2V (vehicle-to-vehicle) or V2X (vehicle-to-external environment, vehicle-to-anything) communication unit 7.

[0088] The brake system 1 a has an online receiving unit 4a in order to receive vehicle data from one or more vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators via one or more first input channels 8a, 9a, 10a and also external data via the wireless communication unit 5. A necessary braking situation is identified as online information on the basis of these vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators and in combination with the external data, as long as such a situation exists.

[0089] These vehicle data are transmitted to the online receiving unit 4a via the first input channels 8a, 9a, 10a.

[0090] The online receiving unit 4a is configured to take into account only external data having a certain timeliness when identifying a necessary braking situation.

[0091] That is to say, the online receiving unit 4a uses only those external data which are transmitted by the V2X / V2V communication unit 7 to the vehicle 2 and which have a certain timeliness: the extraneous communication of a (false) object which is located directly in front of the vehicle 2 at the next instant is thus identified as false or malicious information. The timeliness can be specified, for example, as a value in seconds or milliseconds which can be set freely as a parameter.

[0092] The online receiving unit 4a is also configured to take into account only external data having a direction vector. This is because each object at risk of collision comes almost from everywhere, which means that it has a direction towards the vehicle 2. If the direction of an object at risk of collision is not identified, false external data (malware) can thus be identified.

[0093] The online receiving unit 4a is also configured to take into account only external data which have a certain minimum distance to the calculated collision position when a collision risk is identified as a necessary braking situation. Emergency braking based on false external data (malware) is thus avoided.

[0094] A situation such as a pedestrian who suddenly emerges in front of the vehicle 2 in the external data (which does not exist in reality) is thus not taken into account. It follows that the position of the collision risk should have a certain minimum distance to the vehicle 2 depending on the speed.

[0095] The braking system 1a also has a first offline receiving unit 6 for receiving preferably the same vehicle data from one or more vehicle-owning / vehicle-ownable vehicle sensors 3a, 3b,..., 3n or actuators via one or more second input channels 8b, 9b, 10b. The braking system 1a is also configured to identify the same necessary braking situations as first offline information from the received vehicle data, if such situations exist.

[0096] In the normal mode, i.e. when the sensors / actuators 3a, 3b,..., 3n are not malfunctioning or faulty, the first offline receiving unit 6 and the online receiving unit 4 generate the same information, for example "Attention! Object identified 10 m away; brake", if such a braking situation exists.

[0097] The braking system 1a has a second offline receiving unit 19, wherein the at least one second offline receiving unit 19 comprises one or more image sensors 14, in particular cameras, which are arranged to check at least traffic events in the direction of travel as traffic data.

[0098] In the normal mode, i.e. when the vehicle sensors / actuators 3a, 3b,..., 3n are not malfunctioning or do not fail, the first offline receiving unit 6 and the online receiving unit 4a as well as the second offline receiving unit 19 generate identical information, for example "Attention! Object 10 m away recognized; braking" if such a braking situation exists.

[0099] Furthermore, a comparator 11 is provided, which is used to compare the online information and the first and second offline information with each other, which means that it is compared whether the necessary braking situation is recognized in each receiving unit 4, 6, 19. In connection with this comparison a positive result or a negative result is generated.

[0100] Here, for example, the same braking situation "Pedestrian 10 m away recognized, braking necessary" is recognized. This means that there is a positive result if the necessary braking situation is recognized by two of the receiving units 4a, 6, 19. It should be noted that a positive result can also be generated, for example, if other settings exist in the comparator 11.

[0101] If such a positive result exists, a brake controller 17 is activated, which controls a servo drive 18 in accordance with the recognized braking situation.

[0102] The online receiving unit 4a as well as the first offline receiving unit 6 are arranged on a common carrier plate 12, in particular a semiconductor substrate. Thereby, no additional installation space is required any more. Furthermore, for example, also the evaluation unit (not shown) of the second offline receiving unit 19 can be arranged on the carrier plate 12 and only the image sensor 14 of the second offline receiving unit 19 is arranged on the vehicle 2 in order to capture traffic events in the driving direction.

[0103] Figure 3 A vehicle 2 with a brake system 1b according to the application is shown schematically in a third embodiment.

[0104] The vehicle 2 has a servo drive 18 and a brake controller 17 (Controller). The brake system 1b also has a wireless communication unit 5. The brake system 1b has an offline receiving unit 4 in order to receive vehicle data from one or more vehicle-owning / vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators via one or more first input channels 8a, 9a, 10a, but also external data via the wireless communication unit 5.

[0105] The brake system 1b also has a first offline receiving unit 6 for receiving preferably identical vehicle data from one or more vehicle-owning / vehicle-owning vehicle sensors 3a, 3b,..., 3n or actuators via one or more second input channels 8b, 9b, 10b.

[0106] The brake system 1b has a second off-line receiving unit 19, wherein the at least one second off-line receiving unit 19 comprises one or more image sensors 14, in particular video cameras, which are arranged for detecting at least traffic events in the driving direction as traffic data.

[0107] The brake system 1b has a third off-line receiving unit 15 and a fourth off-line receiving unit 16, which each have at least image sensors (not shown) for image- wise detecting traffic events laterally and in the driving direction as traffic data. From these traffic data it is likewise possible for the third off-line receiving unit 15 and the fourth off-line receiving unit 16 to detect a necessary braking situation as third and fourth off-line information.

[0108] Furthermore, a comparator 11 is provided for comparing the on-line information and the first, second, third and fourth off-line information, which means that it is compared whether a necessary braking situation is recognized in the respective receiving units 4, 6, 19, 15. In connection with this comparison a positive result or a negative result is produced. Here the respective information can enter the comparator 11 weighted in order to form a positive result.

[0109] If such a positive result exists, a brake controller 17 is activated, which controls a servo drive 18 in accordance with the detected braking situation.

[0110] Reference signs

[0111] 1, 1a, 1b brake system

[0112] 2 vehicle

[0113] 3a, 3b, 3n vehicle sensor

[0114] 4, 4a on-line receiving unit

[0115] 5 communication unit

[0116] 6 first off-line receiving unit

[0117] 7 communication section

[0118] 8a first input channel

[0119] 8b second input channel

[0120] 9a first input channel

[0121] 9b second input channel

[0122] 10a first input channel

[0123] 10b second input channel

[0124] 12 carrier plate

[0125] 13 display

[0126] 14 image sensor

[0127] 15 third off-line receiving unit

[0128] 16 fourth off-line receiving unit

[0129] 17 brake controller

[0130] 18 servo drive (brake)

Claims

1. A braking system (1, 1a, 1b) of a vehicle (2), the braking system (1, 1a, 1b) having a brake controller (17) configured to control a servo drive (18) for controlling braking force, a wireless communication unit (5) configured to receive external data via an external device, and An online receiving unit (4, 4a) is configured to receive vehicle data from one or more in-vehicle devices via one or more first input channels (8a, 9a, 10a), and also to at least partially receive the external data via the wireless communication unit (5), wherein, The online receiving units (4, 4a) are also configured to identify necessary braking conditions as online information based on the received external data and vehicle data. A first offline receiving unit (6), wherein the first offline receiving unit (6) is configured to receive at least a portion of the same vehicle data from the one or more vehicle interior devices via one or more second input channels (8b, 9b, 10b), and to identify necessary braking conditions as first offline information based on the received vehicle data. At least one second offline receiving unit (19), wherein the at least one second offline receiving unit (19) includes one or more sensors arranged to detect traffic events in at least the direction of travel as traffic data, and wherein the at least one second offline receiving unit (19) is configured to identify necessary braking conditions as second offline information based on the received traffic data, and A comparator (11) is configured to compare the online information with the first and second offline information and generate a positive or negative result by combining the comparison. When a positive result is obtained, the positive result is transmitted to the brake controller (17) to enable the brake controller (17).

2. The braking system (1, 1a, 1b) according to claim 1, characterized in that, The comparator (11) is configured to generate a positive result if the necessary braking condition is identified as information at least twice in the online receiving unit (4, 4a) and / or in the first offline receiving unit (6) and / or the second offline receiving unit (19), and transmit the positive result to the braking controller (17) to enable the braking controller (17).

3. The braking system (1, 1a, 1b) according to claim 1, characterized in that, The online receiving units (4, 4a) are configured to consider only time-sensitive external data when identifying necessary braking situations.

4. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The online receiving units (4, 4a) are configured to consider only external data with direction vectors.

5. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The one or more vehicle interior devices are connected to the online receiving unit (4, 4a) and the first offline receiving unit (6) for transmitting all vehicle data in the same way.

6. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The first input channel (8a, 9a, 10a) and the second input channel (8b, 9b, 10b) are separate from each other.

7. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The comparator (11) is configured to generate a negative result if only one necessary braking condition is identified as information in the online receiving unit (4, 4a) or in the first offline receiving unit (6) or the second offline receiving unit (19), and to send a warning in the case of a negative result.

8. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The wireless communication unit (5) is a vehicle-to-vehicle or vehicle-to-external environment communication unit (7).

9. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The second offline receiving unit (19) includes one or more sensors, including at least one image sensor (14).

10. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The braking controller (17) is configured to perform the necessary braking with the aid of the servo driver (18) in the event of a positive outcome.

11. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, A display (13) is provided, which is arranged on the vehicle (2) so as to be visible at least to the driver, and wherein the braking system (1, 1a, 1b) is configured to display a positive result as information on the display (13) in the case of a positive result.

12. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The comparator (11) is configured to compare online information identified as necessary braking conditions received by the online receiving unit (4, 4a) and / or first offline information identified as necessary braking conditions received by the first offline receiving unit (6) and second offline information identified as necessary braking conditions received by at least the second offline receiving unit (19), and to weight them differently, and to produce a positive or negative result depending on the weighted comparison.

13. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, At least one additional offline receiving unit (15, 16) is provided, wherein the additional offline receiving unit (15, 16) is configured to identify necessary braking conditions as additional offline information and transmit the additional offline information to the comparator (11), wherein the comparator (11) is configured to compare the online information and the first and second offline information and the additional offline information, and generate a positive result or a negative result in combination with the comparison.

14. The braking system (1, 1a, 1b) according to any one of claims 1 to 3, characterized in that, The online receiving unit (4, 4a) is configured to evaluate all received vehicle data and external data on its own, and the first offline receiving unit (6) is configured to evaluate all received vehicle data on its own, and the at least one second offline receiving unit (19) is configured to evaluate traffic data on its own.

15. A vehicle (2) having a braking system (1, 1a, 1b) according to any one of claims 1 to 14, wherein, The vehicle (2) is configured for autonomous operation.

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