System for controlling the braking behavior of a vehicle, comprising a central or decentralized
control unit (13, 33) which is connected to a plurality of vehicle sensors (5, 7, 9, 11), one of which sensor (5) is coupled to a
brake pedal (3) for determining its position or movement, characterized in that the
control unit (13, 33) is equipped to detect an actual blockage of the
brake pedal (3) or to predict an impending blockage by means of: - a
force sensor arranged on a
brake pedal plate for checking the proportionality of the actuation force to the brake pedal travel, - an accelerator pedal travel sensor for detecting unintentional actuation, - an
ultrasonic sensor arranged in the footwell of the vehicle (1) for detecting foreign objects behind or next to the brake pedal (3) via
distance detection,- a camera arranged in the footwell of the vehicle (1) for detecting foreign objects behind or next to the brake pedal (3) by object identification in an image of the footwell, - a
force sensor arranged on the floor of the footwell of the vehicle (1) behind the brake pedal (3) for detecting foreign objects behind the brake pedal (3) by means of the brake pedal force transmitted from it to the floor of the footwell, - an interior
microphone arranged near the brake pedal (3) for recording noises produced by foreign objects coming into contact with the brake pedal (3), - a seat mat or a
force sensor in a seat
cushion for determining a force transfer from the seat
cushion to the backrest of the driver's vehicle seat when the brake pedal (3) is pressed, - another interior camera for detecting a blocked brake pedal (3) based on the driver's
facial expression, - another interior
microphone for detecting the blocked brake pedal (3) by means of exclamations from the driver,- a force sensor on the
steering wheel for detecting the blocked brake pedal (3) by the driver gripping the
steering wheel more tightly; - a
pulse sensor for detecting the blocked brake pedal (3) by an increase in the driver's pulse; - at least one environment sensing sensor (11) for detecting the blocked brake pedal (3) by a reduction in the distance of the vehicle (1) to other vehicles or obstacles, wherein the
control unit (13, 33) has an
artificial intelligence (15) which is trained once in a test vehicle using the sensor signals obtained during a test drive, whereby a predetermined number of tuples (21) are generated, each comprising an explanatory feature (21a) formed by measurement data from the sensors (5, 7, 9, 11) and an explained feature (21b) in the form of the blocking state of the brake pedal (3) prevailing at the time of measurement; wherein all generated tuples (21) are divided into a
training set (25) and a
test set (27)whose sets do not overlap, are divided, with which a mapping function for the prediction of the blocking states of the brake pedal (3) is generated using one or more
supervised learning methods, wherein the prediction method to be applied of the
artificial intelligence model (15) is determined on the basis of a degree of deviation of a predicted unknown tuple (29) from the
test set (27), which is implemented in the control unit (13, 33) of a production vehicle (1), in which the sensor data transmitted by the sensors (5, 7, 9, 11) to the control unit (13, 33) are processed in such a way that they are used by the implemented
artificial intelligence model (15) for predicting the brake pedal state in order to adapt the brake pedal tension in order to detect the driver's braking request even in the case of partial blocking of the brake pedal travel.