A method for generating a breaking signal for a breaking device of a motor vehicle by an assistance, a computer program product, a non-transitory computer-readable storage medium, as well as a assistance system

Abstract

A method for generating a braking signal 16 for a braking device 18 of a vehicle 10 by an assistance system 14 comprising: capturing (S1, Fig. 2) surroundings 28 of the vehicle by at least one capturi

Description

Mercedes-Benz Group AG A method for generating a breaking signal for a breaking device of a motor vehicle by an assistance, a computer program product, a non-transitory computer-readable storage medium, as well as a assistance system FIELD OF THE INVENTION

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a method for generating a braking signal for a breaking device of a motor vehicle by an assistance system of the motor vehicle. Furthermore, the present invention relates to a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as to a corresponding assistance system. BACKGROUND INFORMATION

[0002] Different traffic scenarios require different applications of the motor vehicle brakes. In a dangerous scenario, drivers might not immediately register the danger and only slowly apply the brakes, losing valuable time to decelerate the vehicle. A system is needed that finds the best suitable brake level, giving the scene context.

[0003] From the state of the art, there are emergency breaking systems known, that are designed to automatically bring a motor vehicle to a stop in critical situations, where the driver may not be able to react quickly enough or at all. These systems may use sensors such as radar, lidar, cameras, ultrasonic sensors to detect obstacles and measure the distance to them. When an impending collision is detected, and the driver has not initiated evasive manoeuvres in the time, the system automatically applies the brakes with full force. In particular, there are so-called frontal collision warnings, rear and front collision avoidance, and pedestrian detection and avoidance systems known.

[0004] Furthermore, there are methods known for predicting vehicle driving and breaking demands based on nearby information using intelligent control of vehicle power systems. This may be achieved through collecting driver's data, analysing and extracting parameters via a scene recognition module, and combining curve information with the driver's habits to predict driving / braking requirements and curve scenarios. These systems may also consider surrounding vehicles to predict timing and acceleration demands for overtaking events. This prediction may be sent to the vehicle power control system, enabling real-time intelligent control of power. SUMMARY OF THE INVENTION

[0005] It is an object of the present invention to provide a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system, by which an improved breaking of a motor vehicle can be realized.

[0006] This object is solved by a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system according to the independent claims. Advantageous embodiments are presented in the dependent claims.

[0007] One aspect of the invention relates to a method for generating a braking signal for a braking device of a motor vehicle by an assistance system of the motor vehicle. Surroundings of the motor vehicle are captured by at least one capturing device of the assistance system. The surroundings are analysed and depending on that, a potential need for a deceleration of the motor vehicle is determined by an electronic computing device. A braking intensity for the braking device is determined for the needed deceleration by the electronic computing device. An actuation signal from a braking actuator of the braking device is received by the electronic computing device and after receiving the actuation signal, generating the braking signal with a determined braking intensity is performed by the electronic computing device.

[0008] In particular, with a so-called ADAS (Advanced Driving Assistance System), with at least multi-view camera sensors and optionally more sensors including lidar and radar, this method can be performed. The sensor data may be encoded and fused in a latent space with a learning-based module. The module may predict a scene braking score based on the likelihood of an incoming collision and the general need of deceleration giving the scene context. The brake level applied is the maximum value of the predicted scene braking score and the level applied to the brake pedal by a driver. This can reduce the driver input to a binary signal at the brake pedal. Either it asks the motor vehicle to brake with a deceleration that is estimated by the assistance system, or no braking is required.

[0009] In an alternative implementation, the motor vehicle brakes automatically as needed and the driver only needs to operate the gas pedal. This is an extension to the one pedal driving of, for example, electronic vehicles, where not only recuperation is used for deceleration, but also brakes are actively applied by the system as needed, for example, to stop for a red light.

[0010] According to an embodiment, the need for deceleration is determined depending on a potential collision with at least one object in the surroundings.

[0011] Furthermore, the need for the deceleration is determined depending on a traffic light in the surroundings.

[0012] According to another embodiment, after exceeding a predefined collision value for the potential collision and / or after determining a red light as the traffic light and after not receiving the actuation signal, the braking is automatically initiated.

[0013] In another embodiment, as the actuation signal an actuating of a recuperation device as the braking actuator is received and / or a non-operating of an acceleration device of the motor vehicle is received.

[0014] In another embodiment, if a braking value at the braking actuator is higher than the determined braking intensity, the braking signal is suppressed and the braking is performed with the braking value.

[0015] In particular, the method is at least in part a computer-implemented method. Therefore, another aspect of the invention relates to a computer program product comprising program code means for performing a method according to the preceding aspect.

[0016] Furthermore, the present invention relates to a non-transitory computer-readable storage medium comprising at least the computer program product according to the preceding aspect.

[0017] A still further aspect of the invention relates to an assistance system for a motor vehicle for generating a braking signal for a braking device of a motor vehicle, comprising at least one capturing device and at least one electronic computing device, wherein the assistance system is configured for performing a method according to the preceding aspect. In particular, the method is performed by the electronic computing device.

[0018] A still further aspect of the invention relates to a motor vehicle comprising at least the assistance system according to the preceding aspect.

[0019] Advantageous embodiments of the method are to be regarded as advantageous embodiments of the computer program product, the non-transitory computer-readable storage medium, as well as the assistance system. The assistance system, as well as the motor vehicle comprises means for performing the method.

[0020] Further advantages, features, and details of the invention derive from the following description of preferred embodiments, as well as from the drawings. The feature and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figures and / or shown in the figures alone can be employed not only in the respectively indicated combination, but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0022] The drawings show in:

[0023] Fig. 1 a schematic side view according to an embodiment of a motor vehicle comprising an embodiment of an assistance system; and

[0024] Fig. 2 a schematic flow chart according to an embodiment of the method.

[0025] In the figures, the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0026] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0027] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0028] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0029] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0030] Fig 1 shows a schematic side view according to embodiment of a motor vehicle 10. A driver 12 is driving the motor vehicle 10. The motor vehicle 10 comprises at least an assistance system 14, wherein the assistance system 14 is at least configured for generating a braking signal 16 for a braking device 18. The assistance system 14 at least may comprise at least one capturing device 20 for capturing surroundings 28, for example a camera, and at least one electronic computing device 22.

[0031] Furthermore, the motor vehicle 10 may comprise at least one braking actuator 24, for example as a braking pedal. Furthermore, a recuperation device 26 is shown.

[0032] Fig. 2 shows a schematic flow chart according to an embodiment of a method. In a first step S1, the surroundings 28 of the motor vehicle 10 are captured by the at least one capturing device 20. Ina second step S2, the surroundings 28 are analysed and depending on that, a potential need for a deceleration of the motor vehicle 10 is determined by the electronic computing device 22. In a third step S3, a braking intensity for the braking device 18 for the needed deceleration is determined by the electronic computing device 22. Ina fourth step S4, receiving an actuation signal from the braking actuator 24 is performed by the braking device 18. And after receiving the actuation signal, the braking signal is generated in a fifth step S5 with a determined braking intensity.

[0033] In particular, the need for deceleration is determined depending on a potential collision with at least one object in the surroundings 28. Furthermore, the need for deceleration may be determined depending on a traffic light in the surroundings.

[0034] According to another embodiment after exceeding a predefined collision value for the potential collision and / or after determining a red light as a traffic light and after not receiving the actuation signal, the braking is automatically initiated, which is shown with a sixth step S6.

[0035] Furthermore, as the actuation signal an actuating of the recuperation device 26 as the braking actuator 24 is received and / or a non-operating of an acceleration device of the motor vehicle 10 is received.

[0036] If a braking value at the braking actuator 24 is higher than the determined braking intensity, the braking signal is suppressed and the braking is performed with the braking value.

[0037] Therefore, a model may predict a scene braking score based on the likelihood of an incoming collision and the general need of deceleration given by the scene context. The brake level applied may be the maximum value of the predicting scene braking score and the level applied to the brake pedal by the driver 12. This can reduce the driver input to a binary signal at the brake pedal. If it asks the car to brake with a deceleration that is estimated by the motor vehicle 10, or no braking is required.

[0038] In an alternative implementation, the motor vehicle 10 may brake automatically as needed and the driver 12 only needs to operate the gas pedal. This is an extension of the one pedal driving of the electronic vehicles, where not only recuperation is used for deceleration, but also brakes are actively applied by the system as needed, for example, to stop for a red light.

[0039] In particular, this has the advantage, that a safety feature helping to brake with a required level from the very beginning to reduce the collision is provided. Furthermore, the driver's input is reduced to a binary signal, increasing comfort.

[0040] Therefore, the assistance system 14 is provided, which runs on the motor vehicle 10. The task is to predict the level of braking conditioned by the scene context. A model is trained to detect relevant objects, including other motor vehicles, pedestrians, lanes, traffic lights and more. Predicted objects are aggregated and the resulting latent representation is used to predict the scalar value of brake demand. The model is trained on real-world data. Input is a driving sequence, target output is braking profile over the next, for example, one second. The actual braking output of the motor vehicle 10 is the maximum to be conservative and safe, this means that the brakes brake at least as much as a human driver may break.

[0041] For example, the need of deceleration is determined by a red traffic light, braking of a lead vehicle, heading towards static obstacle, or pedestrians nearby. The model is trained to detect relevant objects, including motor vehicles, pedestrians, lanes, traffic lights and more. The model may find correlations between certain objects and braking demands, for example, approaching a red light needs a demand for a slight braking. If high brake demand is predicted by the driver and does not apply braking, a warning can be shown in a dashboard and / or acoustically. signs motor vehicle driver assistance system braking signal braking device capturing device electronic computing device braking actuator recuperation device surroundings steps of the method

Claims

1. A method for generating a braking signal (16) for a braking device (18) of a motor vehicle (10) by an assistance system (14) of the motor vehicle (10), comprising the steps of:- capturing surroundings (28) of the motor vehicle (10) by at least one capturing device (20) of the assistance system (14); (S1)- analyzing the surroundings (28) and depending on that determining a potential need for a deceleration of the motor vehicle (10) by an electronic computing device (22); (S2)- determining a braking intensity for the braking device (18) for the needed deceleration by the electronic computing device (22); (S3)- receiving an actuation signal from a braking actuator (24) of the braking device (18) by the electronic computing device (22); (S4) and- after receiving the actuation signal generating the braking signal (16) with the determined braking intensity by the electronic computing device (22). (S5)2. The method according to claim 1, characterized in thatthe need for deceleration is determined depending on a potential collision with at least one object in the surroundings (28).

3. The method according to claim 1, characterized in thatthe need for deceleration is determined depending on a traffic light in the surroundings (28).

4. The method according to claim 2 or 3, characterized in thatafter exceeding a predefined collision value for the potential collision and / or after determining a red light as the traffic light and after not receiving the actuation signal the braking is automatically initiated.

5. The method according to any one of claims 1 to 4, characterized in thatas the actuation signal an actuating of a recuperation device (26) as the braking actuator (24) is received and / or a non-operating of an acceleration device of the motor vehicle (10) is received.

6. The method according to any one of claims 1 to 5, characterized in thatif a braking value at the braking actuator (24) is higher than the determined braking intensity the braking signal (16) is suppressed and the braking is performed with the braking value.

7. A computer program product comprising program code means for performing a method according to any one of claims 1 to 6.

8. A non-transitory computer-readable storage medium comprising at least the computer program product according to claim 7.

9. An assistance system (14) for a motor vehicle (10) for generating a braking signal (16) for a braking device (18) of a motor vehicle (10), comprising at least one capturing device (20) and at least one electronic computing device (22), wherein the assistance system (14) is configured for performing a method according to any one claims 1 to 6.

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