DE112019000290T5 - Method and control unit for braking a vehicle - Google Patents

Abstract

A method and a control unit for a vehicle which is set up to transport one or more passengers are proposed. The vehicle includes at least one communication device that is configured to communicate with at least one device that is external to the vehicle. The method includes: determining, based on information provided by at least one communication device, a time period t until a color of a traffic light changes; - determining a vehicle speed v; - Determining a distance d to a stop position pan of the traffic light; Determining a delay sensitivity D of the one or more passengers; Determining, based on t, v, d and D, braking properties usable to bring the vehicle to a stop at the stopping position p, including one or more of a starting time t and a rate D of deceleration; and performing at least one measure by using the determined braking properties.

Description

Technical area

The present invention relates to a vehicle and, in particular, to a method and a control unit for braking a vehicle which is set up to transport one or more passengers. The present invention also relates to a computer program and a computer-readable medium which implement the method according to the invention.

background

The following description of the background represents a description of the background to the present invention, which however need not necessarily represent the prior art.

Vehicles carrying one or more passengers, such as buses, are often used in areas where traffic lights are placed along the paths or roads to control the flow of vehicle traffic. For example, in urban areas, such as cities, a bus will typically encounter several traffic lights on its route. As is known, traffic lights can indicate that vehicles are allowed to cross the traffic light, for example by displaying a green light that vehicles should be braked or stopped, for example by displaying a yellow light, or that vehicles are not allowed to Cross traffic lights, for example by showing a red light.

A driver of the vehicle should therefore react based on the indications given by the traffic lights, for example on the basis of the color displayed by the traffic lights. Therefore, the driver adapts the travel-related measures / maneuvers that are carried out to the instructions given by the traffic lights. For example, if a traffic light ahead shows a green light, the driver can drive to the traffic light and cross it without taking any additional action. However, if the traffic light ahead shows a yellow or red light, the driver will typically brake the vehicle in such a way that the vehicle speed is reduced and the vehicle is stopped at the traffic light. The driver will then have to wait until the traffic light shows a green light again and can then cross the traffic light.

Brief description of the invention

When approaching a traffic light with a vehicle that is set up to transport one or more passengers, the driver will have to brake the vehicle if the traffic light changes from showing a green color, which indicates that the vehicle is allowed to drive Toggles displaying a yellow color or a red color indicating that the vehicle should be stopped. Such deceleration of the vehicle at a traffic light can cause discomfort for the one or more passengers on the bus. In particular if the change in the displayed traffic light color is seen / recognized late, d. H. when the vehicle is near the traffic light, the driver may need to brake the vehicle aggressively / sharply to come to a complete stop at the traffic light. Such aggressive / harsh braking of the vehicle can cause discomfort for the passengers of the vehicle and can even be dangerous, especially if the passengers are not healthy, not sitting and / or are not using the seat belts / seat belts properly.

In some vehicles, such as buses, military vehicles, fire engines, or ambulances, passengers often do not use seat belts. In addition, there are often passengers in some of these vehicles, for example bus passengers often stand in the aisles because there were no seats available for them in full buses. For such standing passengers, aggressive / sharp braking in front of a traffic light can cause severe discomfort and also be dangerous, since there is a risk for the passengers that they will trip and / or fall due to the aggressive deceleration of the vehicle.

Some passengers are particularly sensitive to aggressive braking / decelerating, such as older passengers, younger passengers (i.e. children), injured passengers, sick passengers, and / or disabled passengers, as they may not get a handle / handle / knob or not enough Have strength to hold on to a handle / handle / knob on the bus or the like when braking. In addition, passengers sitting in wheelchairs, passengers carrying luggage and / or passengers with a baby carrier may also be particularly sensitive to aggressive braking / aggressive deceleration as they may not be able to pull on a handle / handle / knob or the like to come on the bus when braking occurs.

A city bus that travels during rush hour, for example, can have standing passengers and can also carry one or more particularly sensitive passengers. In addition, a city bus will normally cross several traffic lights along its route, and the driver is therefore possibly forced to perform several more or less aggressive / sharp braking maneuvers, which can be dangerous for the passengers.

It is therefore an object of the invention to provide a method and a control unit for braking a vehicle that is set up to transport one or more passengers so that these problems are at least partially solved.

• - zumindest eine Kommunikationsvorrichtung, die zum Kommunizieren mit zumindest einer Einrichtung eingerichtet ist, die bezüglich des Fahrzeugs extern ist; wobei das Verfahren umfasst:
• - Bestimmen, auf der Grundlage von Information, die von zumindest einer Kommunikationsvorrichtung bereitgestellt wird, einer Zeitdauer t_change, bis eine Farbe einer Ampel sich ändert, die sich vor dem Fahrzeug befindet;
• - Bestimmen einer Fahrzeuggeschwindigkeit v;
• - Bestimmen einer Distanz d zu einer Halteposition p_stop an der Ampel;
• - Bestimmen einer Verzögerungsempfindlichkeit D_sense des einen oder der mehreren Passagiere;
• - Bestimmen, auf der Grundlage der Zeitdauer t_change, der Fahrzeuggeschwindigkeit v, der Distanz d und der Verzögerungsempfindlichkeit D_sense, von Bremseigenschaften, die dazu verwendbar sind, um das Fahrzeug an der Halteposition p_stop zum Anhalten zu bringen, wobei die Bremseigenschaften eines oder mehrere aus der folgenden Gruppe umfassen:
  • - einen Zeitpunkt t_brake, zu dem eine Verzögerung begonnen werden sollte; und
  • - eine Rate D_rate der zu verwendenden Verzögerung; und
• - Durchführen zumindest einer Maßnahme, die mit dem Abbremsen des Fahrzeugs zusammenhängt, indem die bestimmten Bremseigenschaften verwendet werden.

According to one aspect of the invention, this object is achieved by the above-mentioned method for braking a vehicle which is set up to transport one or more passengers; wherein the vehicle comprises:

• - At least one communication device which is set up to communicate with at least one device that is external to the vehicle; the method comprising:
• Determining, on the basis of information provided by at least one communication device, a time period t _change until a color of a traffic light that is located in front of the vehicle changes;
• - determining a vehicle speed v;
• Determining a distance d to a _stop position p _stop at the traffic light;
• - Determining a delay sensitivity D _{sense of} the one or more passengers;
• - Determination, on the basis of the time duration t _change , the vehicle speed v, the distance d and the deceleration sensitivity D _sense , braking properties which can be used to bring the vehicle to a _stop at the stopping position p _stop , the braking properties of one or include several from the following group:
  • a point in time t _brake at which a deceleration should be started; and
  • a rate D _{rate of} the delay to be used; and
• - Carrying out at least one measure that is related to the braking of the vehicle by using the specific braking properties.

In this way, smooth and comfortable braking of a vehicle that is configured to transport one or more passengers can be achieved when the vehicle approaches a traffic light whose displayed color changes, for example from displaying a green color to displaying a yellow or a red color. The braking characteristics can be determined early on, before the change in the displayed traffic light color occurs and possibly even before the driver of the vehicle can even see the traffic light, thereby saving valuable additional time that can be used to provide smooth braking of the vehicle. Therefore, if it is determined that the traffic light will switch to yellow and / or red before the vehicle will have passed the traffic light, the driver may be prompted to begin braking the vehicle even though the traffic light is still displaying a green light . In addition, if it is determined that the traffic light will switch to yellow and / or red before the vehicle has traveled far enough for the driver to see the traffic light, the driver may be prompted to begin braking the vehicle Vehicle will have crossed the traffic lights.

Therefore, due to the additional time saved, which can be used to brake the vehicle, sudden and / or aggressive braking maneuvers can be prevented when the present invention is used, which increases the safety and comfort of the passengers, e.g. for passengers who are not healthy, not sitting and / or improperly using seat belts / seat belts. For example, the risk of standing passengers falling on buses carrying standing passengers is minimized by using the embodiments of the present invention.

• - Information, die von der Ampel bereitgestellt wird;
• - Information, die von einer Einheit bereitgestellt wird, die mit der Ampel verbunden ist;
• - Information, die von zumindest einem anderen Fahrzeug bereitgestellt wird; und
• - Information, die von dem Fahrzeug zuvor gewonnen wurde.

According to one embodiment of the present invention, the determination of the time duration t _{change is} based on one or more of the following group:

• - information provided by the traffic light;
• - information provided by a unit connected to the traffic light;
• - Information provided by at least one other vehicle; and
• - Information that was previously obtained from the vehicle.

On the basis of one or more types of information, the time period t _change until the color of the traffic light changes can be reliably determined with little additional complexity.

According to one embodiment of the present invention, the time duration t _change is determined before the traffic light can be seen from the vehicle.

It may therefore be possible to _change the time period t until the color of the traffic light changes determine before the traffic light can be seen from the vehicle, since the time period t _{change can be determined} at least in part on the basis of information provided by external devices, other vehicles and / or information previously provided by the vehicle itself was collected. Obviously, the time period t _change can be determined before the displayed traffic light changes; t _change > 0. This means that smoother and less aggressive braking over a longer period of time can be used to brake the vehicle.

• - Positionsinformation;
• - Karteninformation;
• - Kamerainformation;
• - Radarinformation;
• - Information, die von zumindest einem anderen Fahrzeug (185) bereitgestellt wird; und
• - Information, die von dem Fahrzeug zuvor gewonnen wurde.

According to one embodiment of the invention, the determination of the distance d is based on one or more of the following group:

• - position information;
• - map information;
• - camera information;
• - radar information;
• - Information received from at least one other vehicle ( 185 ) provided; and
• - Information that was previously obtained from the vehicle.

This provides a reliable determination of the distance d to a stopping position p _stop at the traffic light ahead. Since several different types of information can be used for the determination, the determination of the distance d to a _stop position p _{stop can} essentially always be carried out reliably and accurately. In addition, the information used as the basis for the determination is normally available in the vehicle because it is used by other vehicle systems, and therefore the added complexity for making the determination is low.

According to one embodiment of the present invention, determining the delay sensitivity D _{sense of} the one or more passengers comprises determining whether at least one of the at least one or more passengers is stationary.

This addresses a common and potentially dangerous situation, for example, when operating buses in urban areas. The problem of standing passengers being exposed to uncomfortable and potentially dangerous falling or stumbling is common in crowded buses where standing passengers may not be able to hold onto a handle / handle / knob or the like in the bus. However, when using the embodiment of the present invention, standing passengers are specifically considered when determining braking characteristics, which considerably reduces the risk of inconvenience to standing passengers.

According to one embodiment of the present invention, the determination of the delay sensitivity D _{sense of} the one or more passengers is based on information provided by at least one on-board monitoring system.

This provides a reliable and precise determination of the delay sensitivity D _{sense of} the one or more passengers.

• - visuelle Information, die von zumindest einer bordeigenen Kameravorrichtung des Fahrzeugs bereitgestellt wird;
• - taktile Information, die von zumindest einer Drucksensorvorrichtung bereitgestellt wird, die an dem Boden des Fahrzeugs angeordnet ist;
• - Krümmungsinformation für zumindest einen Teil eines Straßenabschnitts zwischen dem Fahrzeug und der Ampel;
• - Fahrereingabeinformation;
• - Information, die mit der Verwendung eines Rollstuhl-Sicherheitsgurts zusammenhängt;
• - Information, die von dem Fahrzeug zuvor gewonnen wurde; und
• - Information, die von zumindest einem anderen Fahrzeug bereitgestellt wird.

According to one embodiment of the present invention, the determination of the delay sensitivity D _{sense of} the one or more passengers is based on one or more of the following group:

• visual information provided by at least one on-board camera device of the vehicle;
• tactile information provided by at least one pressure sensor device which is arranged on the floor of the vehicle;
• Curvature information for at least part of a road section between the vehicle and the traffic light;
• - driver input information;
• - information related to the use of a wheelchair safety belt;
• - information previously obtained from the vehicle; and
• - Information provided by at least one other vehicle.

Therefore, a variety of information can be used to determine the delay sensitivity D _{sense of} the one or more passengers, which improves the accuracy and reliability of the determination. In addition, one or more of these types of information are normally available in the vehicle because they are used by other vehicle systems, which is why the embodiments can be implemented with little additional complexity, for example without additional hardware complexity.

According to one embodiment of the present invention, the determination of the braking properties is also based on a friction between one or more vehicle tires and at least part of a road section between the vehicle and the traffic light.

This allows slippery road sections, such as icy, mud-covered and / or wet road sections, to be taken into account when determining the braking properties, which increases the likelihood that a smooth braking maneuver will be carried out which ensures that the vehicle is at the stopping position p _{stop is} stopped.

• - visuelle Information für zumindest einen Teil eines Straßenabschnitts zwischen dem Fahrzeug und der Ampel, die von zumindest einer Kameravorrichtung des Fahrzeugs bereitgestellt wird;
• - Information, die mit zumindest einer Aktivierung eines Antiblockier-Bremssystems (ABS) des Fahrzeugs zusammenhängt;
• - Information, die mit einem oder mehreren Fahrzeugreifen zusammenhängt;
• - Information, die von dem Fahrzeug zuvor gewonnen wurde;
• - Information, die von zumindest einem anderen Fahrzeug bereitgestellt wird; und
• - Information, die von zumindest einer Infrastrukturvorrichtung bereitgestellt wird.

According to one embodiment of the present invention, the friction is determined on the basis of one or more of the following group:

• visual information for at least part of a road section between the vehicle and the traffic light, which is provided by at least one camera device of the vehicle;
• - Information related to at least one activation of an anti-lock braking system (ABS) of the vehicle;
• - information related to one or more vehicle tires;
• - information previously obtained from the vehicle;
• - Information provided by at least one other vehicle; and
• - Information provided by at least one infrastructure device.

Since the friction can be determined on the basis of information provided by one or more devices that provide one or more different types of data / information, it will essentially always be possible to detect a slippery road section.

According to an embodiment of the present invention, the determination of the braking properties in relation to the deceleration sensitivity D _{sense is} carried out in such a way that a risk of passenger discomfort is eliminated.

For example, a greater deceleration sensitivity D _sense can result in a lower deceleration _rate D _rate for braking and / or at an earlier point in time t _brake for starting / starting braking, which increases the risk of passenger discomfort and / or injury to, for example, standing and / or elderly people Passengers is decreased.

• - Bereitstellen eines Hinweises an einen Fahrer des Fahrzeugs, wobei der Hinweis anfordert, dass der Fahrer ein Bremsen gemäß der Bremseigenschaften durchführt;
• - Bereitstellen eines Hinweises an einen Fahrer des Fahrzeugs, wobei der Hinweis anfordert, dass der Fahrer ein Bremsen gemäß der Bremseigenschaften durchführt, und, falls der Fahrer das angeforderte Bremsen nicht durchführt, aktives Steuern zumindest eines Bremssystems zum Durchführen des angeforderten Bremsens; und
• - aktives Steuern zumindest eines Bremssystems zum Durchführen des angeforderten Bremsens.

According to one embodiment of the present invention, performing at least one measure that is related to braking the vehicle comprises at least one from the following group:

• Providing an indication to a driver of the vehicle, the indication requesting that the driver is carrying out braking in accordance with the braking properties;
• Providing an indication to a driver of the vehicle, the indication requesting that the driver is carrying out braking in accordance with the braking properties, and, if the driver does not carry out the requested braking, actively controlling at least one braking system for carrying out the requested braking; and
• active control of at least one brake system for performing the requested braking.

This ensures the safety and comfort of passengers, since the driver is made aware when it is time to start braking and / or an instruction is given to the driver as to how the braking should be carried out. For example, a lamp / light can be activated when it is time to start braking, ie at the delay start time t _brake , and / or the lamp / light can display different colors indicating whether the deceleration _rate D _rate should be changed or whether the delay _rate D _{rate used is} appropriate / acceptable. In addition, a loudspeaker can be activated in order to output a noise / a message at the delay start time t _brake and / or various noises / messages that indicate whether the delay _rate D _rate should be changed or whether the delay _rate D _{rate used is} appropriate / acceptable. However, if the driver does not follow the instructions / instructions, according to one embodiment, automatic braking can be carried out, which further increases the probability of comfortable braking. In addition, according to one embodiment, fully automated braking can be carried out, for example for an autonomous vehicle.

• - Bestimmen, auf der Grundlage von Information, die von zumindest einer Kommunikationsvorrichtung bereitgestellt wird, einer Zeitdauer t_change, bis eine Farbe einer Ampel sich ändert, die sich vor dem Fahrzeug befindet;
• - Bestimmen einer Fahrzeuggeschwindigkeit v;
• - Bestimmen einer Distanz d zu einer Halteposition p_stop an der Ampel;
• - Bestimmen einer Verzögerungsempfindlichkeit D_sense des einen oder der mehreren Passagiere ;
• - Bestimmen, auf der Grundlage der Zeitdauer t_change, der Fahrzeuggeschwindigkeit v, der Distanz d und der Verzögerungsempfindlichkeit D_sense, von Bremseigenschaften, die dazu verwendbar sind, um das Fahrzeug an der Halteposition p_stop zum Anhalten zu bringen, wobei die Bremseigenschaften eines oder mehrere aus der folgenden Gruppe umfassen:
  • - einen Zeitpunkt t_brake, zu dem eine Verzögerung begonnen werden sollte; und
  • - eine Rate D_rate der zu verwendenden Verzögerung; und
• - Durchführen zumindest einer Maßnahme, die mit dem Abbremsen des Fahrzeugs zusammenhängt, indem die bestimmten Bremseigenschaften verwendet werden.

According to one aspect of the present invention, the object is achieved by the above-mentioned control unit for a vehicle which is set up to transport one or more passengers. The vehicle includes at least one communication device that is configured to communicate with at least one device that is external to the vehicle. The control unit is set up to:

• Determining, on the basis of information provided by at least one communication device, a time period t _change until a color of a traffic light that is located in front of the vehicle changes;
• - Determining a vehicle speed v;
• Determining a distance d to a _stop position p _stop at the traffic light;
• - Determining a delay sensitivity D _{sense of} the one or more passengers;
• - Determination, on the basis of the time duration t _change , the vehicle speed v, the distance d and the deceleration sensitivity D _sense , braking properties which can be used to bring the vehicle to a _stop at the stopping position p _stop , the braking properties of one or include several from the following group:
  • a point in time t _brake at which a deceleration should be started; and
  • a rate D _{rate of} the delay to be used; and
• - Carrying out at least one measure that is related to the braking of the vehicle by using the specific braking properties.

It will be understood that all of the embodiments described for the method aspect of the invention are also applicable to the control unit aspect of the invention. Therefore, all of the embodiments that have been described for the method aspect of the invention can be carried out by the control unit, which can also be a control device, i. H. a device / device. The control unit and its embodiments have advantages which correspond to the advantages mentioned above with regard to the method and its embodiments.

According to one aspect of the present invention, a vehicle is proposed which comprises a control unit as described herein.

According to one aspect of the present invention, the abovementioned computer program and the computer-readable medium are set up to implement the method and its embodiments as described herein.

Figure list

• 1 ein beispielhaftes Fahrzeug zeigt, in dem Ausführungsformen der vorliegenden Erfindung umgesetzt sind,
• 2 ein Ablaufdiagramm für Verfahren gemäß einigen Ausführungsformen der vorliegenden Erfindung zeigt,
• 3 ein Fahrzeug schematisch darstellt, das sich einer Ampel näher,
• 4 ein Fahrzeug schematisch darstellt, das sich einer Ampel nähert, und einige weitere Fahrzeuge, die mit dem Fahrzeug kommunizieren, und
• 5 eine Steuereinheit darstellt, in der ein Verfahren gemäß einer der hierin beschriebenen Ausführungsformen umgesetzt sein kann.

Embodiments of the invention are described in more detail below, together with the accompanying drawings, in which like reference numerals are used for like parts, and in which:

• 1 Figure 3 shows an exemplary vehicle in which embodiments of the present invention are implemented;
• 2 shows a flow diagram for methods according to some embodiments of the present invention,
• 3 schematically depicts a vehicle approaching a traffic light,
• 4th schematically depicts a vehicle approaching a traffic light and some other vehicles communicating with the vehicle, and
• 5 represents a control unit in which a method according to one of the embodiments described herein can be implemented.

Description of preferred embodiments

1 shows schematically an exemplary heavy vehicle 100 such as a truck, bus, fire engine, or other heavy vehicle used to illustrate the embodiments set forth herein. However, the embodiments are not limited to use in heavy vehicles such as those in FIG 1 shown, but can also be used in lighter vehicles such as passenger cars, ambulances or the like.

A vehicle 100 as shown schematically in 1 shown includes a pair of drive wheels 111 , 112 and at least one other pair of wheels 113 , 114 . The vehicle further includes a drive train configured to provide torque between at least one power source such as an engine 101 and the drive wheels 111 , 112 transferred to. The at least one power source can be an internal combustion engine 101 , comprise at least one electrical machine or a combination thereof that implement a so-called hybrid drive.

The at least one source of power 101 is for example in a usual way via an output shaft 102 of the motor 101 with a clutch 106 and via the clutch with a transmission 103 connected. That from the engine 101 provided torque is applied to an input shaft 109 of the transmission 103 delivered. A drive shaft 107 connected to an output shaft of the transmission 103 connected, drives the drive wheels 111 , 112 via a central gear 108 such as a common differential, and via drive shafts 104 , 105 that with the central gear 108 connected.

The vehicle 100 also comprises at least one brake arrangement 151 , 152 , 153 , 154 , for example a brake assembly 151 , 152 , 153 , 154 which is arranged on each of the wheels of the vehicle. The at least one brake assembly 151 , 152 , 153 , 154 can in at least one braking system 150 be included. Braking the vehicle 100 , ie a slowdown of the vehicle 100 by using the at least one brake assembly 151 , 152 , 153 , 154 can be done in several known ways. At least one braking system 150 can also have one or more additional braking devices 155 include, for example, one or more braking devices that act on the drive train, such as a retarder and / or an exhaust brake device. At least one braking system 150 , including the at least one brake assembly 151 , 152 , 153 , 154 and / or the at least one additional braking device 155 , can from at least one control unit / control device 160 be controlled, which is described in more detail below.

The control unit / control device 160 can be a first determination unit 161 , a second determining unit 162 , a third determination unit 163 , a fourth determination unit 164 , a fifth determination unit 165 and an action execution unit 166 as mentioned below. The control unit / control device 160 and / or a further control unit / control device can furthermore be set up to control one or more of the at least one power source 101 , the clutch 106 , the transmission 103 and / or to control other units / devices / devices of the vehicle. In 1 however, only those units / devices / devices of the vehicle are shown which are useful for understanding the present invention.

The vehicle can also have at least one notification output 175 which is set up to give instructions to the driver, such as visual, audible and / or tactile cues, for example using lights, sounds and / or vibrations, which are shown in the instrument display, on the windshield and / or the Driver seat are issued. The at least one exit point 175 can from the control unit 160 be controlled.

The vehicle 100 can also have at least one monitoring system 130 which is set up for monitoring on board the vehicle, as will be described in more detail below.

2 shows a flow chart of a method 200 for braking a vehicle 100 that is set up to accommodate one or more passengers 120 to be transported, according to an embodiment of the present invention. The vehicle 100 , the at least one communication device 170 comprises, which is for communication with at least one device 190 , 180 , 181 , 185 is set up to the vehicle 100 is external is in the 3 and 4th shown. 3 represents the vehicle 100 schematically shows how there is a traffic light 190 approaching and with at least one external facility 190 , 180 communicates. 4th represents the vehicle 100 schematically shows how there is a traffic light 190 approaching and with at least one other vehicle 185 and / or at least one other external device 180 , 181 communicates. The 3 and 4th may be useful in understanding the embodiments of the invention described below.

It should be noted that those in the 2 The method steps illustrated and described herein do not necessarily have to be carried out in the order presented in FIG 2 is shown. Basically, the steps can be performed in any suitable order so long as the physical requirements and information necessary to perform each step are available when the step is performed.

In a first step 210 a time period t will _change until a color of a traffic light 190 will change that in front of the vehicle 100 is determined based on information received from the at least one communication device 170 provided. For example, the time t will _change until the traffic light 190 will switch from green (G) to yellow (Y), or until the traffic light 190 toggle from yellow (Y) to red (R), here determined based on information received from outside the vehicle, ie from at least one external device 180 , 181 , 185 by the at least one communication device 170 provided. Hence the at least one communication device 170 set up with the at least one external device 180 , 181 , 185 to communicate, and can therefore provide the information needed to determine the time duration t _change .

In a second step, a vehicle speed v is determined at which the vehicle 100 moves. Vehicle speed can be determined in several conventional ways, for example based on position information and / or wheel speed.

In a third step 230 a distance d becomes a stopping position p _stop at the traffic light ahead 190 certainly. The _stop position p _stop can be here directly at the traffic light 191 lie in case it's at the traffic lights 190 there is no queue or it can behind one or more vehicles that are at the traffic lights 190 wait, ie in front of / on the upstream side of the traffic light position 191 in the direction of vehicle movement.

In a fourth step 240 becomes a delay sensitivity D _{sense of} the one or more passengers 120 certainly. This determination can be made in accordance with one or more of the embodiments described below.

In a fifth step 250 braking properties are determined which can be used to bring the vehicle to a _stop at the stopping position p _stop . The braking properties include a point in time t _brake at which a deceleration / deceleration of the vehicle 100 should be started, and / or a rate D _{rate of} the delay to use, ie how aggressive / sharp the delay / deceleration should be. The determination of these braking properties is described below for various embodiments of the invention.

In a sixth step 260 at least one measure is carried out, which involves braking the vehicle 100 is related by using the specific braking properties.

According to various embodiments of the present invention, the at least one communication device can 170 basically any device that transmits information to and / or from the vehicle, and the at least one device 180 , 181 , 185 leading to the vehicle 100 is external, can in principle be any external device that is connected to the at least one communication device 170 communicated to transmit the information to and / or from the vehicle. Therefore, the at least one external facility 180 , 181 , 185 for example related to an infrastructure facility and / or another vehicle, for example included therein. The at least one communication device can accordingly 170 a vehicle-to-vehicle (V2V) communication device, a vehicle-to-infrastructure (V2I) communication device, and / or a vehicle-to-something (V2X) -Communication device so that communication between the vehicle and the at least one external unit 180 , 181 , 185 is achieved.

Using the proposed method, a vehicle that is configured to carry one or more passengers can be braked smoothly if the vehicle approaches a traffic light that changes its displayed color, for example from displaying a green color to displaying a yellow or red color. The braking of the vehicle provided by the embodiments of the present invention can therefore be achieved while ensuring the comfort of the one or more passengers of the vehicle.

Since the braking properties are determined based on information received from the at least one communication device 170 is provided for communication with the at least one external device 180 , 181 , 185 is set up, for example with an infrastructure device and / or another vehicle device, the braking features can be determined at an early stage. In some situations, the braking properties can already be determined before a driver of the vehicle passes the traffic lights 190 able to see. Therefore, properties of a controlled braking maneuver can even be determined in this way before the driver himself is aware that the vehicle has to be braked. As a result, the vehicle can be braked much earlier than was possible in the case of conventional solutions. This saves valuable additional time, which is required to brake the vehicle 100 can be used, which greatly improves the possibilities for smooth braking.

Therefore, a driver of the vehicle and / or an active brake control system will not be forced to perform sudden and aggressive braking maneuvers due to surprising changes in traffic light colors, for example from green (G) to yellow (Y) or from yellow (Y) to red (R) When using the embodiments of the present invention, since information regarding the changes in traffic light colors will always be available in the vehicle before the changes occur, and will be useful to begin braking and also to provide smooth and comfortable braking.

In particular, this can improve safety and comfort for passengers who are not healthy, not sitting and / or who do not use seat belts / seat belts properly. For example, the risk of falling for standing passengers on buses carrying standing passengers is minimized by using embodiments of the present invention.

According to various embodiments of the present invention, the determination is based 210 the time period t _change to information received from the at least one external device 180 , 181 , 185 is obtained. The information can be obtained here from the traffic light 190 themselves are provided, for example in the form of a signal that shows the time periods until changes in the traffic light colors displayed. The information can also come from a unit 180 , 181 to be provided with the traffic lights ahead 190 connected, such as an infrastructure device 180 , 181 (V2I), which has a wired and / or wireless connection to the traffic light 190 having. For example, the infrastructure device 180 , 181 a control unit, the control signals for the traffic light 190 where control signals can be used to control the color used by the traffic light 190 is shown. Such control signals can simply be used to determine the time duration t _change .

The information on which the determination 210 the time period t _change is based, can also from at least one other vehicle 185 provided (V2V). In general, groups of vehicles, such as buses, for example, which travel at least in sections on the same routes, can exchange information, the traffic lights 190 concerns such as where they are and how or when they change their displayed color. As in 4th is shown, such information can thereby be obtained from at least one other vehicle 185 is provided that the traffic light 190 crossed before the vehicle 100 does this, can be used to reliably determine the time duration t _change .

The information on which the determination 210 the time period t _change is based, can also be from the vehicle 100 self-provided, ie based on information received from the vehicle 100 was previously collected. Vehicles often cross the same traffic lights. For example, buses often travel on a particular route several times a day, which means that they also cross each traffic light on that route several times a day. The buses can then send information about a traffic light 190 collect it at least once when you cross it, and you can use this collected information the next time you look at that traffic light 190 approach. As mentioned above, the information gathered can also be shared with other vehicles 185 to be delivered. In general, vehicles can in principle collect, store and / or provide any information that can be useful for the vehicle itself and / or for other vehicles. This information can be received and / or transmitted immediately after it has been collected and / or it can be received and / or transmitted later after it has been collected so that the vehicle or possibly a fleet of vehicles can use the information. The one or more vehicles can therefore be viewed as self-learning devices that are configured to learn from past experience in order to improve their present and / or future performance.

Since the time period t _change until the color of the traffic light changes 190 can be determined based at least in part on information received from external entities 190 , 180 , 181 , 185 and / or from information previously provided by the vehicle 100 itself, it is possible, according to one embodiment, to determine the time duration t _change 210 before the traffic lights 190 from the vehicle 100 can be seen from. The point in time t _brake at which the deceleration should be started can hereby be set to an earlier point in time, so that less aggressive braking can be used over a longer period of time to brake the vehicle in comparison to conventional systems in which braking has only just begun after the driver has actually seen / observed a change in the displayed traffic light color.

The distance d to a stopping position p _stop at the traffic light ahead 190 as in 3 can be determined based on various information. The information can be related, for example, to vehicle position information, digital map information, radar-based information and / or camera-based information. The information can previously be obtained from the vehicle 100 collected and / or from at least one other vehicle 185 to be provided. Vehicles can store information themselves and / or information with other vehicles 185 , 100 share as mentioned above. In addition, the information can be obtained from traffic systems associated with this road section, for example from infrastructure systems / units / devices 190 , 180 , 181 . The radar-based and / or camera-based equipment that provides the radar-based information and / or the camera-based information can be in the vehicle 100 , in another vehicle 185 , at the traffic light 190 and / or at the facilities connected to the traffic light 180 , 181 be arranged.

The information that comes with the traffic light ahead 190 related, as well as their position relative to the vehicle 100 can therefore be obtained in various ways. For example, it can be determined on the basis of map data, for example digital maps in combination with position information, for example GPS (Global Positioning System) information. The position information can be used to determine the position of the vehicle relative to the map data, so that the distance d to a stopping position p _stop at the traffic light ahead 190 can be extracted from the map data. Various current cruise control systems use map data and position information. Such systems can then provide the map data and the position data that are required to the Carry out embodiments of the invention, thereby minimizing the additional complexity associated with determining the traffic light related information. By using position information and digital map information, embodiments of the present invention can effectively look ahead along a stretch of road ahead to determine information related to traffic lights ahead that may not yet be visible from the vehicle.

As mentioned above, standing passengers are particularly susceptible to sharp / aggressive braking. According to one embodiment of the present invention, this vulnerability is handled by increasing the delay sensitivity D _{sense of} the one or more passengers 120 determined on the basis of this 240 becomes whether there are passengers standing on board the vehicle, that is, the determination 240 the delay sensitivity D _sense includes determining whether at least one passenger is present 120 stands. This can be done in several ways according to different embodiments of the present invention, for example based on information received from at least one monitoring system 130 is provided on board the vehicle 100 is provided. For example, visual information can be obtained from at least one camera device 130 is provided on board the vehicle as a basis for the determination 240 the delay sensitivity D _{sense of} the one or more passengers 120 be used. In addition, tactile information that is provided by at least one pressure sensor, for example on a floor of the vehicle 100 is arranged as the basis for the determination 240 be used. Some vehicles have wheelchair seat belts and indicators that show whether one or more wheelchair seat belts are being used. Information related to the use of a wheelchair seat belt can then also be used as a basis for the determination 240 the delay sensitivity D _sense can be used.

Furthermore, the determination 240 also to curvature information for at least part of a road section between the vehicle 100 and the traffic light 190 are based. The curvature information can be provided through the use of position information, for example the use of GPS information in combination with map information, as mentioned above.

A driver input can also be used as the basis for the determination 240 the delay sensitivity D _sense can be used. For example, if the driver of a bus notices that one or more elderly passengers, who may be using sticks or walking sticks, are entering the bus, the driver can, in principle, input information using any suitable input device which is interpreted as meaning that passengers are on board are located, which have an increased delay sensitivity D _sense .

The determination 240 the deceleration sensitive D _sense can also be based on information previously received from the vehicle 100 and / or that of at least one other vehicle 185 (V2V) is collected and made available. This provides a self-learning vehicle that can be adapted on the basis of basically any useful information that the vehicle can provide 100 and / or another vehicle 185 have collected. Therefore, if accidents occur over time that involve falling passengers at certain traffic lights, the determination can be made 240 the delay sensitivity D _{sense take} this into account for this traffic light. For example, the delay sensitivity D _sense can be increased at one or more traffic lights that are located behind a bus stop at a hospital, a school and / or a retirement home. In addition, the delay sensitivity D _sense can be increased at traffic lights or road sections where buses normally carry a large number of passengers, which means that a bus will probably carry standing passengers when such traffic lights and / or road sections are crossed / driven. The delay sensitivity D _sense can also be interpreted at certain times, for example if it was previously observed that a bus is transporting many passengers at certain times, for example due to the arrival of connecting buses or connecting trains and / or due to the end of school, a concert and the like Points in time. Therefore, in principle, any information that is related in any way with the vehicle, the passengers, the environment in which the vehicle is traveling and / or the traffic light can be used as the basis for the determination 240 the delay sensitivity D _sense can be used. The determination 240 may then include an appropriate analysis of the information needed to determine 240 the delay sensitivity D _{sense is} useful.

As mentioned above, braking properties are determined in accordance with various embodiments of the present invention 250 which can be used to achieve a stop of the vehicle at the stopping position p _stop . The braking properties include at least a point in time t _brake at which braking should be started and / or a rate D _{rate of} the deceleration to be used. The braking properties can at least be based on the Delay sensitivity D _sense can be determined, for example such that a greater delay sensitivity D _sense leads to a lower deceleration _rate D _rate for braking and / or at an earlier point in time t _brake for starting braking. Through this, ie there the determination 250 the braking properties with regard to the deceleration sensitivity D _{sense is} carried out, the risk of discomfort and / or injury to passengers is eliminated or at least significantly reduced. In other words, a greater delay sensitivity D _sense leads to a smoother delay than a lower delay sensitivity D _sense when the determination 250 the braking properties, the delay sensitivity D _{sense is} taken into account.

The determination 250 The braking properties can also be due to friction between one or more vehicle tires 111 , 112 , 113 , 114 and at least a portion of a stretch of road between the vehicle 100 and the traffic light 190 are based. Therefore, the braking properties when there are minus degrees and / or there are sections 310 with low friction on the road ahead, including, for example, snow, ice, water, leaves, oil or other friction reducing elements, are so determined 250 that this is taken into account. For example, the braking properties can then be determined in this way 250 that the time t _brake at which the deceleration is to be started is earlier, so that the vehicle is stopped without braking / deceleration in the sections 310 perform low friction. In addition, the delay _rate D _{rate can be} before and / or after the sections 310 low friction so that the vehicle is stopped without going into sections 310 low friction, braking / deceleration must be carried out.

The friction between one or more vehicle tires 111 , 112 , 113 , 114 and at least a portion of a road section can be determined in several ways according to various embodiments of the invention. For example, the friction determination can be based on visual information received from at least one camera device of the vehicle, at least one camera device of another vehicle 185 and / or at least one camera device of an infrastructure device 190 , 180 , 181 provided. The at least one camera should then point to at least part of a road section between the vehicle 100 and the traffic light 190 be directed. In addition, the friction determination can be based on ambient temperature information and / or information relating to one or more tires 111 , 112 , 113 , 114 of the vehicle, for example, whether it is summer or winter tires. In addition, other indicators for sections of low friction can be used in the determination of the friction, for example activation of an anti-lock braking system (ABS) of the vehicle 100 , whereby a low friction can be determined if the anti-lock braking system has been activated.

In general, the information on which the friction determination is based can be from the vehicle 100 himself, from another vehicle 185 (V2V) and / or from at least one infrastructure device 190 , 180 , 181 (V2I) as mentioned above for other types of information that are between vehicles 100 , 185 (V2V) and between vehicles 100 , 185 and infrastructure facilities 190 , 180 , 181 (V2I) can be exchanged.

According to various embodiments of the present invention, the specific braking properties, that is to say the braking start time t _brake and the deceleration _rate D _rate , can be used as a driver support 261 , 262 and / or they can be used to brake the vehicle 100 actually steer 263 , 264.

As mentioned above, at least one action is taken 260 that with the braking of the vehicle 100 is related by using the specific braking properties. The at least one measure can be providing 261 a notice for a driver of the vehicle 100 include by the at least one notice output 175 is used, the notice prompting the driver to brake the vehicle according to the braking properties. The information can basically include everything that can be perceived and / or interpreted by the driver, such as, for example, visual, audible and / or tactile information that uses lights, sounds and / or vibrations, for example, in the instrument display on the windshield and / or are issued in the driver's seat. Any exit 175 can be used to transmit / output the information to the driver. For example, a lamp / a light / a display / a symbol can be activated when it is time to start braking, ie at a deceleration start time t _brake . The lamp / light / display / symbol can display different colors, symbols and / or patterns that indicate whether the delay _rate D _rate should be changed or whether the delay _rate D _{rate used is} appropriate / acceptable. In addition, a loudspeaker can be activated in order to output a sound / a message at the delay start time t _brake and / or to output various sounds / messages that indicate whether the delay _rate D _rate should be changed or whether the delay _rate D _{rate used is} appropriate / acceptable is. In addition, a specific vibration can be provided at the time t _{brake begins} at the deceleration start. Different vibrations, for example different frequencies of vibration, can be used to indicate whether the deceleration _rate D _{rate should be} increased or decreased.

The at least one performed 260 A first provision can also be a measure 162 of the at least one instruction which requests the driver to carry out the requested braking, as described above, and then, if the driver does not carry out the requested braking, actively controls a braking system 263 to perform the requested deceleration. Therefore, if the driver does not react to the at least one brake request instruction, automatic braking is activated by the at least one brake system 150 is activated. This ensures that braking is achieved which minimizes discomfort for passengers, even if the driver does not react to the advice. In addition, if the driver does not react to the at least one brake request instruction, the speed and / or the fuel injection that is requested by a cruise control system and / or by an accelerator pedal can be automatically reduced.

For an autonomous vehicle, ie for a vehicle that is automatically driven by one or more control systems without the influence of a physical driver, the at least one can be performed 260 Measure also an active steering 264 of at least one brake system 150 to include performing the requested braking, ie according to the determined braking properties. In addition, the speed and / or the fuel injection that is requested by a cruise control system and / or by an accelerator pedal can be automatically reduced. Therefore, without considering a driver input in controlling the braking system, the vehicle can thereby smoothly and safely come to a complete stop at the traffic light 190 be braked without jeopardizing passenger comfort.

According to one aspect of the present invention, a control unit 160 for a vehicle 100 proposed that is set up to accommodate one or more passengers 120 to transport. The method described herein and the embodiments of the method can be controlled by the control unit 160 be performed. The vehicle 100 comprises at least one communication device 170 that are required to communicate with at least one facility 190 , 180 , 181 , 185 is set up relating to the vehicle 100 is external.

• - Bestimmen 210, auf der Grundlage von Information, die von zumindest einer Kommunikationsvorrichtung 71 bereitgestellt wird, einer Zeitdauer t_change, bis eine Farbe einer Ampel 190 sich ändert, die sich vor dem Fahrzeug (100) befindet;
• - Bestimmen 220 einer Fahrzeuggeschwindigkeit v;
• - Bestimmen 230 einer Distanz d zu einer Halteposition p_stop an der Ampel 190;
• - Bestimmen 240 einer Verzögerungsempfindlichkeit D_sense des einen oder der mehreren Passagiere 120;
• - Bestimmen 250, auf der Grundlage der Zeitdauer t_change, der Fahrzeuggeschwindigkeit v, der Distanz d und der Verzögerungsempfindlichkeit D_sense, von Bremseigenschaften, die dazu verwendbar sind, um das Fahrzeug an der Halteposition p_stop zum Anhalten zu bringen, wobei die Bremseigenschaften eines oder mehrere aus der folgenden Gruppe umfassen:
  • - einen Zeitpunkt t_brake, zu dem eine Verzögerung begonnen werden sollte; und
  • - eine Rate D_rate der zu verwendenden Verzögerung; und
• - Durchführen 260 zumindest einer Maßnahme, die mit dem Abbremsen des Fahrzeugs 100 zusammenhängt, indem die bestimmten Bremseigenschaften verwendet werden.

The control unit 160 is set up for, includes, for example, means for:

• - Determine 210 , on the basis of information provided by at least one communication device 71, a time period t _change until a color of a traffic light 190 changes in front of the vehicle ( 100 ) is located;
• - Determine 220 a vehicle speed v;
• - Determine 230 a distance d to a _stop position p _stop at the traffic light 190 ;
• - Determine 240 a delay sensitivity D _{sense of} the one or more passengers 120 ;
• - Determine 250 , on the basis of the time duration t _change , the vehicle speed v, the distance d and the deceleration sensitivity D _sense , of braking properties that can be used to bring the vehicle to a _stop at the stopping position p _stop , the braking properties of one or more from the following group:
  • a point in time t _brake at which a deceleration should be started; and
  • a rate D _{rate of} the delay to be used; and
• - Carry out 260 at least one measure that involves braking the vehicle 100 is related by using the specific braking properties.

The control unit 160 , for example a device or a control device, according to the present invention can be set up for performing all of the above method steps, the method steps in the claims and the method steps of the embodiments described herein, for example by using the above-mentioned control unit 161 , 162 , 163 , 164 , 165 , 166 includes. The control unit 160 is thereby provided with the advantages described above for each corresponding embodiment. The invention also relates to a vehicle 100 such as a truck, a bus, an ambulance or a passenger car that has the control unit 160 includes.

Those skilled in the art will understand that the embodiments described herein for braking a vehicle can also be implemented in a computer program which, when it is executed in a computer, can be implemented Instructing computer to perform the procedure. The computer program is usually a computer program product 503 which is stored on a non-transitory / non-volatile digital storage medium in which the computer program is contained in the computer-readable medium of the computer program product. The computer-readable medium includes a suitable memory such as: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), flash memory, EEPROM (Electrically Erasable PROM), a hard disk unit, etc.

5 shows a schematic representation of a control unit 500 / 160 , one or more of the above control units 161 , 162 , 163 , 164 , 165 , 166 corresponds to or may contain this, ie a first determination unit 161 showing the first step 210 performs a second determining unit 162 that is the second step 220 performs, a third determination unit 163 that is the third step 230 performs a fourth determination unit 164 which is the fourth step 240 performs a fifth determination unit 165 which is the fifth step 250 and an action execution unit 166 which is the sixth step 260 performs. The control unit 500 / 160 comprises a calculation unit 501 , which in principle can be formed by any suitable type of processor or microcomputer, for example a circuit that has a predetermined specific function (Application Specific Integrated Circuit, ASIC). The calculation unit 501 is with a storage unit 502 connected that in the control unit 500 / 160 is arranged, the storage unit of the calculation unit 501 for example, the stored program code and / or the stored data provided by the calculation unit 501 needed to be able to do calculations. The calculation unit 501 is also set up to store partial results or final results of calculations in the storage unit 502 save.

In addition is the control unit 500 / 160 with fixtures 511 , 512 , 513 , 514 equipped for receiving and transmitting input and output signals. These input and output signals can include waveforms, pulses, or other attributes generated by the devices 511 , 513 for the reception of input signals can be recognized as information and converted into signals that can be processed by the calculation unit 501 can be processed. These signals are then used by the calculation unit 501 made available. The devices 512 , 514 for transmitting output signals are set up to convert signals from the calculation unit 501 to generate output signals, for example by modulating the signals, which can be transmitted to other parts of the vehicle and / or systems in the same.

Each of the connections to the devices for receiving and transmitting input and output signals can be formed by one or more cables; a data bus such as a CAN bus (Controller Area Network Bus), a MOST bus (Media Oriented Systems Transport Bus) or some other bus configuration; or from a wireless connection. Those skilled in the art will understand that the aforementioned computer is the calculation unit 501 can be formed, and that the aforementioned memory of the memory unit 502 can be formed.

Control systems in modern vehicles typically include communication bus systems that consist of one or more communication buses for connecting multiple electronic control units (ECUs) or controllers and various components located in the vehicle. Such control systems can include a large number of control units, and responsibility for a particular function can be shared among more than one control unit. Vehicles of the type shown therefore often include considerably more control units than in the 1 and 3 to 5 what is known to those skilled in the art are shown.

In an illustrated embodiment, the present invention can be implemented by the one or more control units 161 , 162 , 163 , 164 , 165 , 166 be implemented. However, the invention can also be implemented in whole or in part in one or more other control units that are already present in the vehicle, or in a control unit which is dedicated to the present invention.

Here and in this document, units are often described as being adapted to carry out steps of the method according to the invention. This also includes that the units are designed and / or configured to carry out these method steps.

The one or more control units 161 , 162 , 163 , 164 , 165 , 166 are in the 1 shown as separate units. These units 161 , 162 , 163 , 164 , 165 , 166 however, they can be logically separated but physically implemented in the same unit, or they can be located both logically and physically together. These units 161 , 162 , 163 , 164 , 165 , 166 can for example correspond to groups of instructions, which can take the form of program code, which is in a processor / calculation unit 501 is entered and used by them when the units are activated and / or used to perform their procedural step.

The present invention is not limited to the embodiments described above. Instead, the invention relates to and encompasses all of the various embodiments encompassed within the scope of the independent claims.

Claims (15)

Method (200) for braking a vehicle (100) which is set up to transport one or more passengers (120); wherein the vehicle comprises: - at least one communication device (170) which is configured to communicate with at least one device (190, 180, 181, 185) that is external to the vehicle (100); the method comprising: - determining (210), on the basis of information provided by at least one communication device (71), a time period t _change until a color of a traffic light (190) that changes in front of the vehicle ( 100) is located; - determining (220) a vehicle speed v; - Determination (230) of a distance d to a _stop position p _stop at the traffic light (190); - determining (240) a delay sensitivity D _{sense of} the one or more passengers (120); - Determination (250), on the basis of the time duration t _change , the vehicle speed v, the distance d and the deceleration sensitivity D _sense , braking properties which can be used to bring the vehicle to a _stop at the stopping position p _stop , the Brake properties include one or more of the following group: a time t _brake at which a deceleration should be started; and a rate D _{rate of} the delay to be used; and - performing (260) at least one measure which is related to the braking of the vehicle (100) by using the determined braking properties. Method (200) according to Claim 1 wherein the determination (210) of the time duration t _{change is} based on one or more of the following group: information provided by the traffic light (190); - information provided by a unit (180, 181) connected to the traffic light (190); - Information provided by at least one other vehicle (185); and - information previously obtained from the vehicle (100). Method (200) according to one of the Claims 1 to 2 wherein the determination (210) of the time period t _{change is} performed before the traffic light (190) can be seen from the vehicle (100). Method (200) according to one of the Claims 1 to 3 wherein the determination (230) of the distance d is based on one or more of the following group: position information; - map information; - camera information; - radar information; - Information provided by at least one other vehicle (185); and - information previously obtained from the vehicle (100). Method (200) according to one of the Claims 1 to 4th wherein determining (240) the delay sensitivity D _{sense of} the one or more passengers (120) comprises determining whether at least one of the at least one or more passengers (120) is standing. Method (200) according to one of the Claims 1 to 5 wherein the determination (240) of the delay sensitivity D _{sense of} the one or more passengers (120) is based on information provided by at least one on-board monitoring system (130). Method (200) according to one of the Claims 1 to 6th wherein the determination (240) of the delay sensitivity D _{sense of} the one or more passengers (120) is based on one or more of the following group: visual information provided by at least one on-board camera device (130) of the vehicle (100) ; - tactile information provided by at least one pressure sensor device (130) which is arranged on the floor of the vehicle (100); - Curvature information for at least part of a road section between the vehicle (100) and the traffic light (190); - driver input information; - information related to the use of a wheelchair safety belt; - information previously obtained from the vehicle (100); and - information provided by at least one other vehicle (185). Method (200) according to one of the Claims 1 to 7th , wherein the determining (250) of the braking properties is also based on friction between one or a plurality of vehicle tires (111, 112, 113, 114) and at least a part of a road section between the vehicle (100) and the traffic light (190). Method (200) according to Claim 8 , wherein the friction is determined on the basis of one or more of the following group: - visual information for at least a part of a road section between the vehicle (100) and the traffic light (190) provided by at least one camera device of the vehicle (100) becomes; - Information relating to at least one activation of an anti-lock braking system (ABS) of the vehicle (100); - information related to one or more vehicle tires (111, 112, 113, 114); - information previously obtained from the vehicle (100); - Information provided by at least one other vehicle (185); and - information provided by at least one infrastructure device (180, 181). Method (200) according to one of the Claims 1 to 9 wherein the determination (250) of the braking properties in relation to the deceleration sensitivity D _{sense is performed in} such a way that a risk of passenger discomfort is eliminated. Method (200) according to one of the Claims 1 to 10 , wherein the performing (260) of at least one measure that is related to the braking of the vehicle (100) comprises at least one of the following group: - Providing (216) a notification to a driver of the vehicle (100), the notification requesting that the driver performs braking according to the braking characteristics; - Providing (262) an indication to a driver of the vehicle (100), the indication requesting that the driver is carrying out braking in accordance with the braking properties, and, if the driver does not carry out the requested braking, actively controlling (263) at least one braking system (150) to perform the requested braking; and - actively controlling (264) at least one braking system (150) for performing the requested braking. Computer program, comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method (200) according to one of the Claims 1 to 11 perform. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to perform the method (200) according to any one of Claims 1 to 11 perform. Control unit (160) for a vehicle (100) which is set up to transport one or more passengers (120); wherein the vehicle comprises: - at least one communication device (170) which is configured to communicate with at least one device (190, 180, 181, 185) that is external to the vehicle (100); wherein the control unit (160) is set up for: - determining (210), on the basis of information provided by at least one communication device (71), a time period t _change until a color of a traffic light (190) changes, which is in front of the vehicle (100); - determining (220) a vehicle speed v; - Determination (230) of a distance d to a _stop position p _stop at the traffic light (190); - determining (240) a delay sensitivity D _{sense of} the one or more passengers (120); - Determination (250), on the basis of the time duration t _change , the vehicle speed v, the distance d and the deceleration sensitivity D _sense , braking properties which can be used to bring the vehicle to a _stop at the stopping position p _stop , the Brake properties include one or more of the following group: a time t _brake at which a deceleration should be started; and a rate D _{rate of} the delay to be used; and - performing (260) at least one measure which is related to the braking of the vehicle (100) by using the determined braking properties. Vehicle comprising a control unit (160) according to Claim 14 .

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