Anti-tip device and method for preventing a vehicle from tipping over

Abstract

Anti-tip device (110) for preventing a vehicle (100) from tipping over, wherein the anti-tip device (110) comprises the following features: a detection device (115) designed to detect an impending tipping of the vehicle (100) using at least one driving parameter signal (125) representing a driving parameter of the vehicle (100) during operation, and to provide a tipping signal (130) in response to the detection; and an output device (120) configured to output a steering signal (135) to a steering device (105) of the vehicle (100) using the tilting signal (130), wherein the steering signal (135) is configured to change a hand torque of the steering wheel (140) in such a way that steering towards the vehicle by the driver is made more difficult and / or counter-steering by the driver is made easier in order to counteract the tipping of the vehicle (100).

Description

[0001] The present approach relates to a rollover prevention device and a method for preventing a vehicle from tipping over, and a vehicle with a rollover prevention device.

[0002] Vehicles, especially trailers with a high center of gravity, are at risk of tipping over when cornering. To prevent this, the wheels can be braked, thereby reducing both the lateral acceleration of the center of gravity (due to the resulting reduction in vehicle speed) and the tipping moment (due to reduced lateral forces exerted by the wheels). DE 199 18 597 A1 describes a method for reducing the risk of tipping over in road vehicles. DE 197 51 925 A1 describes a method and a device for detecting a vehicle's tendency to tip over.

[0003] Against this background, the objective of the present approach is to create an improved anti-tip device to prevent a vehicle from tipping over, an improved method for preventing a vehicle from tipping over, and a vehicle with an improved anti-tip device.

[0004] This problem is solved by a tip-over prevention device for preventing a vehicle from tipping over, a method for preventing a vehicle from tipping over and ultimately a vehicle with an improved tip-over prevention device according to the main claims.

[0005] The advantages achievable with the presented approach lie in the fact that an impending rollover can be prevented particularly effectively by the rollover prevention device presented here. Advantageously, the vehicle can still be prevented from tipping over even if one or more wheels of the vehicle have already lifted off the road surface. Advantageously, different embodiments of the approach described here can be used in connection with both semi-automated and manually controlled vehicles.

[0006] A rollover prevention device for preventing a vehicle from tipping over comprises a detection device and an output device. The detection device is configured to recognize an impending rollover of the vehicle using at least one driving parameter signal, which represents a driving parameter of the vehicle during operation, and to provide a rollover signal in response to this detection. The output device is configured to use the rollover signal to output a steering signal to a steering device of the vehicle in order to counteract the rollover of the vehicle.

[0007] The driving operation can be manual, meaning a mode in which the vehicle is controlled manually by a driver. It can also be semi-automated. For example, the driving operation might involve the vehicle driving around a curve. By controlling the vehicle's steering system, the acceleration of the vehicle's center of gravity can be advantageously modified to prevent tipping or overturning. Controlling the steering system can assist the driver in making a steering input that changes the steering angle of at least one wheel. Additionally or alternatively, controlling the steering system can prevent the driver from making a steering input that could increase the risk of overturning.

[0008] For example, the steering signal can be used to alert the driver to a potentially dangerous driving situation by means of a torque on the steering wheel. This torque can additionally or alternatively make it more difficult for the driver to execute a steering maneuver that could increase the risk of rollover.

[0009] The output device can be configured to output the steering signal, which is designed to set or change the steering angle and, additionally or alternatively, the steering wheel torque of the steering system. For this purpose, the steering signal can be output to an interface with an actuator capable of exerting a torque perceptible to the driver on the steering wheel of the steering system, either directly or indirectly via the steering signal. This torque can, for example, prompt the driver to make or permit a steering movement in a specific direction. Alternatively or additionally, the torque can prevent the driver from making a steering movement that would increase the risk of rollover. The torque can also be used to indicate to the driver the risk of an impending rollover.Depending on the specific design, the steering signal can be configured to produce a single torque or a suitable torque curve over time at the steering wheel. For example, the steering signal can be configured to prompt the driver to reduce or increase the steering angle or to steer in a different direction. Thus, lateral acceleration, for instance in a curve, can advantageously be reduced by steering back towards the straight-ahead position. By steering in the opposite direction, a lateral acceleration with the opposite sign can even be generated. Additionally or alternatively, the steering signal can also be configured to adjust or change the steering wheel torque, for example, depending on a current driving condition, such as the current steering angle and / or steering wheel torque.The steering signal can, for example in a curve, make further steering in one direction more difficult and / or encourage counter-steering in the opposite direction, thus facilitating stabilizing steering inputs for the driver in manual driving mode or hindering further steering inputs that worsen the vehicle's condition. This can advantageously provide the driver with an indication of a steering movement necessary to stabilize the vehicle.

[0010] The driving parameter can represent a wheel parameter of a vehicle wheel. This wheel parameter could be, for example, wheel speed and / or wheel torque. The presence or absence of traction of the wheel can be inferred from the wheel parameter.

[0011] The driving parameter can represent a steering angle, for example of the steering mechanism or a wheel of the vehicle. The steering angle, in conjunction with the vehicle speed, can be used to infer a risk of rollover.

[0012] The driving parameter can represent an inertial value of the vehicle during operation. This inertial value can be a value detected by an inertial sensor or other sensor in the vehicle, for example, the vehicle's lateral acceleration. The vehicle's lateral acceleration can provide a direct indication of an impending or already completed rollover.

[0013] The driving parameter can represent a vehicle configuration value during operation. This vehicle configuration value can represent a setting and / or dimension of the vehicle. The setting might, for example, relate to the vehicle's design-related road handling. The dimension might, for example, indicate the vehicle's load status. The vehicle configuration value can be stored in a data memory within the vehicle and read by the rollover prevention device. Such driving parameters can provide information about whether a situation exists in which the vehicle is about to roll over or is likely to do so. Advantageously, several of the aforementioned driving parameters can be used separately or in combination to detect a rollover hazard as accurately as possible.

[0014] It is advantageous if, according to one embodiment, the detection device is designed to recognize an impending vehicle rollover when a driving parameter, or a processed driving parameter determined using the driving parameter, is in a predetermined relationship to a limit value. The limit value can be a stored or readable threshold that indicates an impending rollover. For example, the limit value, taking into account the current driving situation of the vehicle, can represent a lateral acceleration at which a wheel of the vehicle lifting off the road is very likely or has already occurred. By comparing current driving parameters with at least one such limit value, it can be quickly determined whether or not a rollover is imminent.The detection device can, for example, be designed to detect the imminent tipping of the vehicle if the driving parameter corresponds to, exceeds, or falls below the limit value.

[0015] The anti-rollover device can additionally or alternatively include a transmitter configured to send a torque signal to generate torque at at least one wheel of the vehicle in order to create the driving parameter. Using such a torque signal, and simultaneously reading the wheel speed (for example, as the driving parameter), it can be determined whether the wheel is on the road surface or lifted off it. For example, the wheels on the inside of a curve, which are particularly prone to lifting off the road in a curve, can be controlled and thus tested by the torque signal.

[0016] According to one embodiment, the output device can be configured to use the rollover signal to output a brake signal to at least one braking device of the vehicle, thereby causing at least one wheel of the vehicle to brake. The brake signal can be a signal coordinated with the steering signal. For example, the brake signal can be output using the driving parameter signal and / or the steering signal. Such a combination of influencing the steering and braking devices of the vehicle can enable increased effectiveness in preventing the vehicle from rolling over.

[0017] It is further advantageous if the output device is designed to use the tipping signal to send a display signal to a vehicle display, thus providing a visual and / or audible indication of the imminent tipping of the vehicle or an instruction for the driver. This allows the driver to be warned or advised on further action.

[0018] A vehicle equipped with a steering system has an anti-tip device, which is designed in one of the variants described above. The vehicle can be a truck, for example, a lorry, or a trailer. The vehicle's height can be greater than its width. Such a vehicle can advantageously be particularly effectively protected against tipping over by the anti-tip device.

[0019] A method for preventing a vehicle from tipping over comprises a detection step, a provision step, and an output step. In the detection step, an impending tipping of the vehicle is detected using a driving parameter signal, which represents a driving parameter of the vehicle during operation. In the provision step, a tipping signal is provided in response to the detection step. In the output step, a steering signal is issued to a steering device of the vehicle using the tipping signal to counteract the tipping of the vehicle.

[0020] This method can be implemented, for example, in software or hardware, or in a hybrid form of both, such as in a control unit. Even with this implementation variant of the approach in the form of a method, the underlying problem can be solved quickly and efficiently.

[0021] Examples of the approach presented here are explained in more detail in the following description with reference to the figures. These show: Fig. 1 a schematic cross-sectional representation of a vehicle with a steering device and a tip-over prevention device to prevent the vehicle from tipping over according to an exemplary embodiment; Fig. 2 a schematic cross-sectional representation of a vehicle with a steering device and a rollover prevention device according to an exemplary embodiment; Fig. 3 a schematic representation of a vehicle with a steering device and a tip-over prevention device according to an exemplary embodiment; Fig. 4 a schematic representation of a vehicle with a steering device and a rollover prevention device according to an exemplary embodiment; and Fig. 5 a flowchart of a method for preventing a vehicle from tipping over according to an exemplary embodiment.

[0022] In the following description of favorable embodiments of the present approach, the same or similar reference numerals are used for the elements shown in the various figures and which have a similar effect, without repeating these elements.

[0023] Fig. Figure 1 shows a schematic cross-sectional view of a vehicle 100 with a steering device 105 and a tipping prevention device 110 for preventing the vehicle 100 from tipping over, according to an exemplary embodiment. The vehicle 100 is shown from the rear and is already in a tipping motion to the right. This tipping motion results, for example, from the vehicle 100 entering a left-hand curve too fast. The tipping motion can be counteracted by making a steering movement to the right, i.e., towards the side to which the vehicle 100 is threatening to tip over.

[0024] The anti-tip device 110 is designed to prevent the vehicle 100 from tipping over. According to one embodiment, the anti-tip device 110 comprises a detection device 115 and an output device 120. The detection device 115 is designed to detect an impending tipping of the vehicle 100 using at least one driving parameter signal 125, which represents a driving parameter of the vehicle 100 during operation, and to provide a tipping signal 130 in response to this detection. The output device 120 is designed to output a steering signal 135 to the steering device 105 of the vehicle 100 using the tipping signal 130 in order to counteract the tipping of the vehicle 100.

[0025] According to this embodiment, the anti-roll device 110 is arranged in or on the vehicle 100. In one embodiment, the anti-roll device 110 is integrated into a control unit for a driver assistance system of the vehicle 100 or into the steering system 105.

[0026] The steering system 105 of the vehicle 100 comprises a steering wheel 140 for manual steering of the vehicle 100 by a driver, or is at least coupled to the steering wheel 140. According to this embodiment, the steering system 105 comprises a steering sensor 145 configured to detect a steering angle and / or a steering torque of the steering wheel 140, or the steering system 105 is at least coupled to the steering sensor 145. According to this embodiment, the vehicle 100 also comprises at least a first wheel 150 and a second wheel 155 arranged opposite the first wheel 150 on a wheel axle. According to one embodiment, the steering sensor 145, or a further steering sensor, is configured to detect a steering angle of at least one of the wheels 150, 155.

[0027] According to this embodiment, the first wheel 150 has a wheel sensor 160 and / or a wheel drive unit 165 and / or a wheel brake unit 170. The wheel sensor 160 is configured to detect the wheel speed and / or wheel torque of the wheel 150. The wheel drive unit 165 is configured to drive the wheel 150. The wheel brake unit 170 is configured to brake the wheel 150. According to one embodiment, the second wheel 155 has a corresponding sensor 160 and / or corresponding units 165, 170, like the first wheel 150.

[0028] According to this embodiment, the vehicle 100 comprises an inertial sensor system 175, which is designed to detect acceleration in the direction of travel of the vehicle 100 and / or lateral acceleration and / or rotation rate of the vehicle 100.

[0029] According to this embodiment, the detection device 115 is designed to read sensor data from the steering sensor 145 and / or wheel sensor 160 and / or the inertial sensor system 175 via one or more corresponding interfaces as the driving parameter signal 125.

[0030] According to this embodiment, the detection device 115 is configured to detect the imminent tipping of the vehicle 100 when the driving parameter, or a driving parameter processed using the driving parameter, is in a predetermined relationship to a limit value 180. For this purpose, the detection device 115, according to this embodiment, is configured to read the limit value 180 as a stored value from the tipping prevention device 110 and / or from a device that is arranged externally to the tipping prevention device 110 or externally to the vehicle 100. According to this embodiment, the detection device 115 is configured to process the driving parameter and / or to compare the driving parameter or the processed driving parameter with the limit value 180.If multiple driving parameters are used, several limit values ​​can be applied, or a value determined from several driving parameters can be compared with the limit value of 180 or another limit value. Depending on the result of such a comparison, a probability of an impending rollover or a rollover angle of an already initiated rollover process can be determined.

[0031] According to this embodiment, the output device 120 is configured to output the steering signal 135, which is configured to set or change a steering angle and / or steering wheel torque of the steering device 105 or the steering wheel 140. For this purpose, according to one embodiment, the steering device 105 has an actuator configured to exert a torque on the steering wheel 140 in order to set a steering angle requested by the steering signal 135 and additionally or alternatively to effect the steering wheel torque requested by the steering signal 135.

[0032] According to this embodiment, the output device 120 is further configured to output a brake signal 182 to the wheel brake device 170 of the first wheel 150 and / or the second wheel 155 and / or another brake device of the vehicle 100, using the tipping signal 130, in order to cause the vehicle 100 to brake. By braking, the speed of the vehicle 100 is reduced, and thus the risk of tipping over. According to one embodiment, the brake signal 182 is specifically output to a wheel 150, 155 of the vehicle 100, the braking of which reduces the lateral acceleration that would cause the vehicle 100 to tip over.

[0033] According to this embodiment, the output device 120 is configured to output a display signal to a display device of the vehicle 100 using the tipping signal 130, in order to provide a visually and / or audibly perceptible indication of the imminent tipping of the vehicle 100 or an instruction for action for the driver of the vehicle 100. The display device is, for example, designed as a display visible to the driver. For example, the display device is configured to show a directional arrow pointing in a direction to be steered, using the display signal.

[0034] The anti-tip device 110 presented here also includes, according to this embodiment, a transmitter 185 configured to send a torque signal 190 to generate torque at at least one wheel 150, 155 of the vehicle 100 in order to generate the driving parameter. For example, the torque signal 190 is provided to the wheel brake 170 of wheel 150 via an interface. Because wheel 150 is already in the air, it is braked more strongly than if it still had contact with the ground and a travel distance 195. According to one embodiment, the braking of wheel 150 is detected as a driving parameter using the wheel sensor 160. Alternatively, the torque signal 190 is provided to the wheel drive unit 165 via an interface. Because wheel 150 is already in the air, wheel 150 is accelerated more strongly than if wheel 150 still had contact with the ground.According to one embodiment, the acceleration of wheel 150 is detected as a driving parameter using the wheel sensor 160. Thus, by evaluating the braking or acceleration of wheel 150, it can be determined whether the wheel 150 has traction or not. In this embodiment, the wheel parameter is the wheel speed and / or wheel torque of the first wheel 150. Alternatively, the wheel parameter indicates whether the wheel 150 is lifted off the ground or still in contact with the ground. According to this embodiment, the detection device 115 reads the driving parameter signal 125 from the wheel sensor 160 at the first wheel 150.

[0035] According to an alternative embodiment, a steering angle and / or an inertial value sensed by the inertial sensor system 175 and / or a vehicle configuration value of the vehicle 100 stored or read into a vehicle memory is additionally or alternatively read as a driving parameter during driving operation.

[0036] According to the illustrated embodiment, the vehicle 100 is shown in a tilted state during operation, with at least the first wheel 150 lifted off the track 195. According to this embodiment, at least the second wheel 155 maintains contact with the track 195. According to this embodiment, the detection device 115 detects the imminent tipping of the vehicle 100 due to the first wheel 150 lifting off the ground using the driving parameter signal 125, which represents the wheel speed of the first wheel 150 sensed in response to the torque signal 190, and provides the tipping signal 130 upon detection. According to this embodiment, the detection device 115 provides the tipping signal 130 immediately after detecting the imminent tipping.The output device 120, using the tilt signal 130, outputs the steering signal 135 to the steering device 105 to counteract the tipping of the vehicle 100. According to this embodiment, the output device 120 outputs the steering signal 135 immediately after receiving the tilt signal 130. According to this embodiment, the steering signal 135 modifies the steering torque or hand torque of the steering wheel 140 such that steering by the driver becomes more difficult and / or counter-steering by the driver becomes easier. Additionally, according to this embodiment, the output device 120, using the tilt signal 130, immediately outputs the brake signal 182.

[0037] Fig. Figure 2 shows a schematic cross-sectional view of a vehicle 100 with a steering device 105 and a rollover prevention device 110 according to an exemplary embodiment. This can be an exemplary embodiment of the one described in Figure 2. Fig. The vehicle 100 described in section 1 is equipped with the anti-tip device 110. A structure of the anti-tip device 110 is shown according to this embodiment.

[0038] The anti-tip device 110 presented here provides anti-tip protection for commercial vehicles by means of steering torque interventions or a combined anti-tip protection for commercial vehicles by means of combined steering torque and brake interventions.

[0039] According to this embodiment, the anti-tip device 110 is integrated or can be integrated into a driver assistance system of the vehicle 100 to implement a driver assistance function to increase the driving safety of commercial vehicles.

[0040] For vehicles 100, especially for vehicles 100 or trailers with a high center of gravity as described in this embodiment, there is a risk of tipping over during cornering. To prevent the detected imminent tipping, the wheels 150, 155 are braked according to this embodiment, thereby reducing both the lateral acceleration of the center of gravity, through a resulting reduction in vehicle speed, and the tipping moment, through reduced lateral forces of the wheels 155, 150. Since the potential for tipping protection through braking alone is limited for vehicles 100 in which the wheels 150 have already lifted off the road surface in a curve, the tipping prevention device 110 advantageously increases the effectiveness of the tipping protection by incorporating the steering and thus influencing the driver.

[0041] According to one embodiment, the imminent tipping over of the vehicle 100 with a relevantly high center of gravity, or according to an alternative embodiment of a vehicle combination with a relevantly high center of gravity, is counteracted by the tipping prevention device 110 outputting the steering signal 135, which reduces the magnitude of a lateral acceleration by appropriately steering the steering angle back towards the straight-ahead position, or even builds up a lateral acceleration with the opposite sign by steering in the opposite direction.

[0042] If a vehicle 100 or the vehicle combination shown here enters a curve with a sufficiently high center of gravity, the vehicle 100 may tip over if the lateral accelerations are too high. Such tipping is detected by the anti-tip device 110 either by an approach of a sensed lateral acceleration to a critical value or by wheel lift, which can be detected by means of individual wheel torque control via the torque signal 190 and simultaneous evaluation of the measured wheel speeds. According to one embodiment, the torque signal 190 causes the wheel 150, 155 to be driven or braked.

[0043] Upon positive detection, according to this embodiment, the driver is given a suitable steering wheel torque by means of the steering signal 135, based on the current driving condition and using driving parameters such as speed, estimated center of gravity height, and / or lateral acceleration of the vehicle 100. According to this embodiment, this steering wheel torque makes further steering and thus an increase in lateral acceleration more difficult and gives the driver an indication of the steering movement necessary to stabilize the vehicle 100.

[0044] According to this embodiment, this intervention is coordinated with brake interventions of already available functions.

[0045] According to one embodiment, the anti-tip device 110 integrates the steering into the anti-tip protection system during manual driving, in addition to the existing anti-tip protection provided by brake intervention. To generate a superimposed steering wheel torque, the anti-tip device 110 utilizes existing interfaces of the steering control system, or, according to another embodiment, the steering wheel torque, steering wheel angle, and / or current input of a motor integrated into the steering system. Fig. Figure 2 shows this structure of the combined tip-over protection.

[0046] According to one embodiment, lateral acceleration is reduced by braking interventions and the resulting decrease in speed and lateral forces. This reduces the rolling moment, which can prevent the vehicle from tipping over. When the steering is additionally used by the anti-tip device 110, the driver is alerted to the approaching tipping limit by the application of a steering wheel torque, in addition to the existing braking interventions. According to one embodiment, this steering wheel torque is applied either before or after the braking intervention, depending on the situation. Therefore, the driver is advantageously provided with a steering torque in situations where a vehicle tipping over is likely or has already occurred. This additional steering torque reduces the likelihood of driver error.The hand torque counteracts a build-up of lateral acceleration and thus reduces the risk of tipping over compared to a variant in which only a braking process is initiated.

[0047] The following is a functional example of the anti-tip device 110: The vehicle (100) or a vehicle combination with a high center of gravity is manually driven into a curve. Lateral acceleration builds up, causing the vehicle (100) or trailer to begin tipping over; see also the [reference to be added]. Fig. 3 and Fig. 4. The rollover prevention device 110, which can also be referred to as a computing unit, now applies a test torque to the inner wheels 150 and evaluates the wheel speeds to detect wheel lift. The test torque is determined, for example, using the value calculated based on… Fig. The torque signal described in section 1 is applied. If it is detected that at least one wheel 150 has lost contact with the ground, the vehicle 100 is immediately braked appropriately. At the same time, the rollover prevention device 110 requests a manual torque at the steering wheel, which counteracts further steering into the curve by the driver. This manual torque not only makes further steering more difficult but also indicates the system's request to the driver. If, instead of a wheel lifting, the approach to the critical lateral acceleration is detected, the procedure is analogous.For a correct assessment of the situation by the detection device 115, the following are used or read in as the driving parameter signal 125: steering data in the form of steering angles and steering hand torques and / or inertial sensor data 175 in the form of accelerations and / or rotation rates and / or wheel data 150, 155 in the form of wheel speeds, as well as information about the vehicle configuration.

[0048] Fig. Figure 3 shows a schematic representation of a vehicle 100 with a steering device and a tip-over prevention device according to an exemplary embodiment. This could be the one based on Fig. 1 or Fig. The vehicle 100 described in Figure 2 is equipped with a rollover prevention device. This embodiment shows a view through the windshield of the vehicle 100. According to this embodiment, the vehicle 100 is in a left-hand curve, and the rollover prevention device detects that the inside wheels of the vehicle 100 are lifting off the road and / or that the vehicle 100's lateral acceleration about a transverse axis y exceeds the limit value. According to this embodiment, the rollover prevention device 110 causes a rightward steering torque of the steering wheel 140 to prevent the imminent rollover.

[0049] The x-direction shown corresponds to a longitudinal axis, the y-direction to a transverse axis, and the z-direction to a vertical axis of the vehicle.

[0050] Fig. Figure 4 shows a schematic representation of a vehicle 100 with a steering device and a rollover prevention device according to an exemplary embodiment. This could be the one based on Fig. 1, Fig. 2 or Fig. The vehicle 100 described in Figure 3 is equipped with an anti-tip device. A lateral acceleration ay in the y-direction is shown, which leads to the vehicle tipping over.

[0051] Fig. Figure 5 shows a flowchart of a method 500 for preventing a vehicle from tipping over according to an exemplary embodiment. This method 500 can be controlled, executed, and / or effected by one of the tipping prevention devices described in one of the preceding figures.

[0052] Method 500 comprises a recognition step 505, a provision step 510, and an output step 515. Optionally, according to this embodiment, method 500 also comprises a further output step 520, a display step 525, and / or a transmission step 530.

[0053] In step 505 of the detection phase, an impending vehicle rollover is detected using a driving parameter signal, which represents a driving parameter of the vehicle during operation. In step 510 of the provision phase, a rollover signal is provided in response to step 505 of the detection phase. In step 515 of the output phase, a steering signal is output to a steering device of the vehicle using the rollover signal to counteract the vehicle rollover.

[0054] According to this embodiment, in step 505 of the detection process, the imminent rollover of the vehicle is detected using a driving parameter signal, which represents as the driving parameter a wheel parameter of a wheel of the vehicle and / or a steering angle and / or an inertial value and / or a vehicle configuration value of the vehicle during driving operation. According to this embodiment, in step 505 of the detection process, the imminent rollover of the vehicle is detected if the driving parameter or a processed driving parameter determined using the driving parameter is in a predetermined relationship to a limit value. According to this embodiment, in step 515 of the output process, the steering signal is output, which is configured to set or change a steering angle and / or a steering wheel torque of the steering device.

[0055] According to this embodiment, in step 520 of the further output, a brake signal is output to a braking device of the vehicle using the tipping signal to cause the vehicle to brake. According to this embodiment, step 520 of the further output is executed simultaneously with step 515 of the output. According to this embodiment, in step 525 of the display, a display signal is output to a display device of the vehicle using the tipping signal to provide a visually and / or audibly perceptible indication of the imminent tipping of the vehicle or an instruction for the driver of the vehicle. According to this embodiment, in step 530 of the transmission, a torque signal is sent to generate torque at at least one wheel of the vehicle to create the driving parameter. According to this embodiment, step 530 of the transmission occurs before step 505 of the detection.

[0056] If an embodiment includes an “and / or” connection between a first feature and a second feature, this is to be read as meaning that the embodiment according to one embodiment has both the first feature and the second feature, and according to another embodiment either only the first feature or only the second feature. REFERENCE MARK LIST 100 vehicles 105 Steering device 110 Anti-tip device 115 Detection device 120 output device 125 Driving parameter signal 130 Tilting signal 135 Steering signal 140 steering wheel 145 Steering sensor 150 first wheel 155 second wheel 160 wheel sensor 165 Wheel drive unit 170 Wheel brake system 175 Inertial sensors 180 Limit value 182 Brake signal 185 Transmitting device 190 torque signal 195 route 300 curve 500 methods for preventing a vehicle from tipping over Step 505 of Recognition Step 510 of deployment Step 515 of spending Step 520 of further spending Step 525 of the display Step 530 of sending

Claims

Anti-tip device (110) for preventing a vehicle (100) from tipping over, wherein the anti-tip device (110) comprises the following features: a detection device (115) configured to detect an impending tipping of the vehicle (100) using at least one driving parameter signal (125) representing a driving parameter of the vehicle (100) during driving operation and to provide a tipping signal (130) in response to the detection; and an output device (120) configured to output a steering signal (135) to a steering device (105) of the vehicle (100) using the tilting signal (130), wherein the steering signal (135) is configured to change a hand torque of the steering wheel (140) in such a way that steering towards the vehicle by the driver is made more difficult and / or counter-steering by the driver is made easier in order to counteract the tipping of the vehicle (100). Anti-tip device (110) according to claim 1, wherein the driving parameter represents a wheel parameter of a wheel (150, 155) of the vehicle (100) and / or a steering angle and / or an inertial value and / or a vehicle configuration value of the vehicle (100) during driving operation. Anti-tip device (110) according to one of the preceding claims, wherein the detection device (115) is configured to detect the imminent tipping of the vehicle (100) when the driving parameter or a processed driving parameter determined using the driving parameter is in a predetermined relationship to a limit value (180). Anti-tip device (110) according to one of the preceding claims, with a transmitting device (185) configured to send a torque signal (190) to generate a torque on at least one wheel (150, 155) of the vehicle (100) in order to generate the driving parameter. Anti-tip device (110) according to one of the preceding claims, wherein the output device (120) is configured to output the steering signal (135) configured to set or change a steering angle and / or steering wheel torque of the steering device (105). Anti-tip device (110) according to one of the preceding claims, wherein the output device (120) is configured to output a brake signal (182) to a brake device (170) of the vehicle (100) using the tipping signal (130) in order to cause braking of at least one wheel (155) of the vehicle (100). Anti-tip device (110) according to one of the preceding claims, wherein the output device (120) is configured to output a display signal to a display device of the vehicle (100) using the tipping signal (130) in order to provide an optically and / or acoustically perceptible indication of the imminent tipping of the vehicle (100) or an instruction for action for a driver of the vehicle (100). Vehicle (100) with a steering device (105) and the anti-tip device (110) according to one of the preceding claims. Method (500) for preventing a vehicle (100) from tipping over, wherein the method (500) comprises the following steps: detecting (505) an impending tipping of the vehicle (100) using a driving parameter signal (125) representing a driving parameter of the vehicle (100) during driving operation; providing (510) a tipping signal (130) responding to the step (505) of detection; and outputting (510) a steering signal (135) using the tipping signal (130) to a steering device (105) of the vehicle (100), wherein the steering signal (135) is configured to modify a hand torque of the steering wheel (140) such that steering towards the vehicle (100) is made more difficult and / or counter-steering by the driver is made easier in order to counteract tipping of the vehicle (100).

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