Method and device for operating a vehicle

Abstract

The invention relates to a method and a device for operating a vehicle, wherein a degree of damage or a state of health of at least one component of a steering system of the vehicle is determined as an estimated variable (SG), wherein steering assistance external to the steering system is generated if at least one damage criterion, which is evaluated as a function of the at least one estimated variable (SG), is met and a steering operation is detected, wherein vehicle guidance is supported during the steering operation by the steering assistance external to the steering system.

Description

[0001] The invention relates to a method and a device for operating a vehicle.

[0002] Today, systems or components in vehicles, especially automobiles, are specified for a predetermined service life (specified service life). If the actual service life or useful life of a component exceeds this specified service life, a service-related safety measure is initiated. For example, a vehicle driver is prompted to replace the component by generating a corresponding output signal.

[0003] This occurs regardless of whether wear has actually reached a relevant damage limit for a component. Thus, a situation may arise in which the lifetime-dependent safety measure is initiated even though a component is still functioning to the desired extent.

[0004] Redundant systems in vehicles, especially redundant steering systems, are also known. This redundancy may be necessary, especially in the case of a steer-by-wire steering system.

[0005] It is also known that vehicle components that no longer function as intended can have undesirable effects on operational safety. In particular, components of a steering system that no longer function as intended can adversely affect the vehicle's steering behavior.

[0006] Known from the prior art is US 2023 / 0097944 A1, which describes a method in which a vehicle cannot be accelerated after a speed reduction due to a driver's braking intervention if a fault in a steer-by-wire steering system has been detected. This document describes various scenarios for such a speed control.

[0007] Also known is US 10,752,282 B2, which describes a control system in a steering system. The control system comprises a first electrical control unit, which operates as the primary control unit of the control system and sends a motor control signal to the motor to generate drive torque. The control system comprises a second control unit, which serves as a backup for the first control unit. Operation as a backup includes monitoring the first control unit for a malfunction.

[0008] Also known is US 11,605,252 B2, which describes systems and methods for predictive detection of vehicle faults based on diagnostic error codes. The document describes a method that includes determining a probability of a vehicle fault based on one or more diagnostic error codes, wherein the fault probability is displayed to a vehicle driver if the probability exceeds a threshold.

[0009] Also known is US 2022 / 0263849, which describes anomaly detection in a vehicle network.

[0010] The technical problem is to create a method and a device for operating a vehicle which increases the operational safety of the vehicle.

[0011] The solution to the technical problem is provided by the subject matter having the features of the independent claims. Further advantageous embodiments of the invention are set forth in the subclaims.

[0012] A method for operating a vehicle, in particular a motor vehicle, is proposed. The method can also be a method for operating a subsystem of the vehicle, in particular a steering system of the vehicle. Preferably, the vehicle is a motor vehicle or an automobile. However, the method can also be used to operate a different vehicle.

[0013] In the method, a degree of damage or a state of health of at least one component of a vehicle's steering system is determined as an estimated variable. The vehicle's steering system may include components, in particular mechanical, electrical, and / or electronic components, to influence vehicle steering, in particular by a vehicle driver. However, it is also conceivable for a driver assistance system to influence vehicle steering via the steering system.

[0014] In vehicles with steerable wheels, the steering system may include components for moving the vehicle's wheels into a position in which the vehicle is then guided along a predetermined trajectory. In automobiles, this can be achieved, in particular, by adjusting a steering angle. Alternatively, the steering system may control other components of the vehicle that are part of a steering system, such as components for adjusting a rudder in aircraft.

[0015] A steering system can be an electromechanical or hydraulic steering system, in particular an electric servo steering system. A steering system can also be a so-called steer-by-wire steering system. Furthermore, a steering system can be a front-axle or rear-axle steering system. Such a steering system can comprise an electromechanical or hydraulic drive device.

[0016] A steering system may in particular comprise the following mechanical components: - Steering handle, such as a steering wheel, - Steering gear, such as a worm gear, - steering column, - steering shaft, - steering rack, - Mechanical fasteners such as screws, - valve of a hydraulic power steering system, - Hydraulic power steering pump, - Fluid lines of a hydraulic power steering system, - drive device of an electromechanical power steering system, such as an electric motor, - Torsion bar, as well as other mechanical components known to the person skilled in the art.

[0017] A steering system may include the following electrical or electronic components: - control device, which may be designed as a computing device and may comprise at least one microcontroller or integrated circuit, - steering angle sensor, - steering wheel angle sensor, - torque sensor, - Steering shaft position sensor, - Steering rack position sensor, - electrical contact elements, such as plugs, - electrical components, such as electrical switching units, such as MOSFET or IGBT, - capacitors, - inductances, - electrical cables and other electrical or electronic components known to the person skilled in the art.

[0018] According to the invention, steering assistance is generated external to the steering system. This will be explained in more detail below. This steering assistance is generated external to the steering system if at least one damage criterion is met. The damage criterion is evaluated depending on the at least one degree of damage or the state of health.

[0019] The degree of damage represents a condition and functionality of the component, in particular based on a predetermined scale or rating system. For example, such a rating system can comprise a classification into the degrees of damage "A", "B", ..., "F", where "A" stands for no damage and "F" for serious damage. Of course, it is also possible to use a numerical value for the representation, which lies, for example, between a minimum value, e.g. 0, and a maximum value, e.g. 1, where the minimum or maximum value represents no damage and the respective remaining maximum or minimum value represents serious damage. The degree of damage can be component-specific.

[0020] The state of health, which can also be referred to as the state of health (SOH), can be a measure of the component in relation to functionality, performance and / or safety. Analogous to the degree of damage, the state of health can be determined according to a scale or rating system, with different scale- or rating system-specific values ​​representing different states of health. Analogous to the explanations for the degree of damage, a numerical value can be used for representation, which lies, for example, between a minimum value, e.g. 0, and a maximum value, e.g. 1, with the minimum or maximum value representing a maximally healthy state and the respective remaining maximum or minimum value representing a minimally healthy state. The state of health can also be component-specific.

[0021] In contrast to the degree of damage explained above, the state of health generally refers, as previously explained, to the functionality, performance, and / or safety of a component. It describes how well or poorly a component can perform its intended function and whether it operates safely and efficiently. A good state of health usually means that a component is in acceptable condition, while a poor state of health indicates problems with the component. The degree of damage, on the other hand, refers to the degree of wear, damage, and / or deterioration of the component. It describes how severely the component has already been damaged or worn out. In other words, the state of health is a measure of the general condition and performance of a component, while the degree of damage is a measure of the wear or damage that has already occurred to a component.It is conceivable that a component is in good health but still shows a certain degree of damage.

[0022] The degree of damage or the state of health can be determined by a computing device in the steering system. For this purpose, at least one input variable can be evaluated, for example, a sensor-based variable. Such sensor-based input variables can be, for example: - a temperature of the component, - a current or energy consumption of the component, - a dynamic quantity assigned to the component, such as a position, a speed or an acceleration, - impression, - a target value for controlling / regulating a component, such as a target voltage, a target current, a target torque, - an actual value of the component, such as an actual voltage, an actual current, an actual torque, - a reference or manipulated variable for a component, - a control or regulation variable of a component, as well as other variables known to the person skilled in the art which are component-specific or specific to the operation of the component.

[0023] For example, in a steering system, a desired auxiliary torque of a drive device of the steering system and a generated actual auxiliary torque can be determined and compared, whereby the degree of damage or the state of health of the drive device and / or the regulating or control device of the drive device can be determined from a difference between these variables.

[0024] An actual auxiliary torque and a change in the position of the steering rack can also be recorded, whereby the degree of damage or the state of health of the steering gear can be determined depending on these variables.

[0025] It is also possible to determine the distance or angular range of a moving component, such as the steering rack or a worm gear, already travelled since commissioning, whereby the degree of damage or the state of health of the steering rack or the worm gear or the steering gear can be determined depending on the distance travelled, for example depending on a predetermined assignment.

[0026] In general, the expert is familiar with methods and input variables for determining the degree of damage or the state of health of components of a steering system.

[0027] The input variable can be recorded using a sensor or calculated from a sensor-based variable.

[0028] The damage criterion can also be evaluated by the steering system's computing device, another computing device of the steering system, or a different computing device.

[0029] The damage criterion can be met if the degree of damage or the state of health is higher or lower than a predetermined level. The level can be selected such that, for example, a comparatively higher or lower degree of damage or state of health represents a particularly undesirably impaired functionality of the component. Impaired functionality can be functionality that deviates from the desired functionality in the undamaged state. The damage criterion can then not be met if the degree of damage or the state of health is lower or higher than the predetermined level or equal to the predetermined level, whereby a comparatively lower or higher degree of damage or state of health represents a desired functionality of the component.

[0030] To determine whether the damage criterion is met, the estimated value can be compared with a predetermined threshold value.

[0031] Furthermore, the steering assistance is generated externally if a steering operation is detected. Therefore, two requirements must be met for the steering assistance to be generated externally: the damage criterion must be met, and a steering operation must be detected.

[0032] The steering process can be detected, for example, if an active influence on the vehicle's steering is detected, for example, if a driver operates a steering handle to actively influence the vehicle's steering. For example, a torque applied by the driver to a steering handle can be recorded, and a steering process can be detected based on this torque. Methods for detecting a steering process are known to those skilled in the art.

[0033] Steering assistance external to the steering system supports the vehicle during the steering process, particularly the intended vehicle guidance. The intended vehicle guidance can be determined using methods known to those skilled in the art, e.g., in the form of a target trajectory. Corresponding input variables can also be evaluated for this purpose.

[0034] Steering assistance external to the steering system refers to influencing the vehicle through the operation of components external to the steering system in such a way that the vehicle guidance intended by the detected steering operation is supported. For example, if a car is to be steered to the left or right, at least one component external to the steering system, such as a brake, can be operated in such a way that the car moves to the left or right due to the braking operation. Steering assistance external to the steering system can be provided in such a way that the vehicle guidance intended by the steering operation is achieved completely or only partially by the steering assistance external to the steering system.

[0035] This advantageously results in the fact that, in the event of at least one component in the vehicle's steering system not functioning as desired, the desired vehicle steering is supported or fully provided by steering assistance external to the steering system, thus enabling it to be carried out safely. This allows the damaged component to be relieved of load or even completely deactivated, while the vehicle can still be steered as desired. In particular, safe continued operation of the vehicle is made possible, at least for a short time, without the vehicle having to be taken out of service immediately. It is also advantageous that a component that is not yet damaged but is in an undesirably low state of health can be relieved of load, which can extend the service life of this component. Overall, this advantageously increases the operational reliability of the vehicle.

[0036] The assistance provided by the external steering system also advantageously allows information to be provided to the driver without endangering the driver, particularly since an external system intervenes in the steering behavior in a way that is perceptible and unexpected to the driver. The driver can perceive this, particularly haptically.

[0037] In a further embodiment, a health status of the at least one component is determined, with the degree of damage being determined as an estimated variable depending on the health status. A relationship between the health status and the degree of damage can be known in advance. Such a relationship can be, for example, a model-based relationship, a characteristic curve-based relationship, or an assignment-based relationship. By determining the degree of damage depending on the health status, it advantageously results that the external steering system support is only provided depending on whether damage actually exists, although methods for determining the health status can also be used to carry out the method. This, in turn, can reduce the frequency of external steering system support, which may be irritating for a vehicle occupant.

[0038] If the steering assistance external to the steering system is provided depending on a health condition, the advantage is that the risk of further deterioration in the health condition of a component that has not yet been adversely affected can be reduced, which can increase operational safety over a longer period of time.

[0039] It is possible that the degree of damage can be determined as a health condition. However, these can also be different and, in particular, determined using different methods.

[0040] In a further embodiment, the estimated variable is determined as a function of at least one sensor-based variable. This and corresponding advantages have already been explained above. The determination can be model-based, characteristic-curve-based, or assignment-based, for example. Other types of determination are of course also possible. A sensor-based variable can be an input variable for a method for determining the estimated variable. Alternatively, it is conceivable that an input variable for such a method is determined from the sensor-based variable, for example through calculation steps. This advantageously results in a reliable determination of a current value of the estimated variable and thus also a guarantee of operational reliability at the current time.

[0041] In a further embodiment, a component-specific estimated value is determined for at least two components of the steering system, wherein a damage criterion is evaluated for each component-specific estimated value, which can in particular be a component-specific damage criterion. Steering assistance external to the steering system is generated if at least one damage criterion is met and the steering process is detected. The evaluation of a damage criterion for each component-specific estimated value can mean that the component-specific estimated value is determined for each component of a set of selected components and that a (component-specific) damage criterion is evaluated depending on this component-specific estimated value. The component-specific damage criteria can be different from one another.

[0042] This advantageously results in different responses to damage to different components. For example, if it is detected that a component that makes only a very minor contribution to vehicle control is initially impaired in its function, the component-specific damage criterion may not be met. However, the damage criterion for a component with the same degree of impairment may already be met if this component makes a greater contribution to vehicle control.

[0043] In an alternative embodiment, a component-specific estimated value is determined for at least two components of the steering system, with an overall estimated value being determined as a function of the component-specific estimated values. The overall estimated value can be determined, in particular, as the sum of the component-specific estimated values, which are preferably weighted with predetermined weighting factors. Of course, a different procedure for determining the overall estimated value is also conceivable.

[0044] Steering assistance external to the steering system is generated if a damage criterion, which is evaluated based on the overall estimated value, is met and the steering process is detected. This advantageously results in an acceleration and / or reduction of the resources required to implement the method (memory resources and / or computing power resources), since only one damage criterion needs to be evaluated.

[0045] In another embodiment, the steering assistance external to the steering system is generated by a braking intervention. For this purpose, for example, a braking system of the vehicle can be controlled accordingly. The braking intervention takes place in such a way that the intended vehicle guidance during the steering process is supported or completely taken over by the braking process.

[0046] As an alternative to generating steering assistance external to the steering system through braking intervention, it can also be generated by another vehicle system, e.g., by the vehicle's drive system. For example, vehicle steering can be influenced by applying / operating different drive torques to the driven wheels of a vehicle, at least temporarily.

[0047] Of course, other systems for generating steering assistance external to the steering system are also conceivable. However, providing steering assistance external to the steering system via a brake handle advantageously results in a simple and reliable way of supporting or effecting vehicle guidance during the steering process.

[0048] In a further embodiment, the level of assistance is set depending on the at least one estimated value. If, for example, a second estimated value represents a greater impairment of the component than a first estimated value, the level of assistance can be greater if the second estimated value is determined for the component than the level of assistance if the first estimated value is determined for the component. It is also conceivable that when the estimated value is determined as the second estimated value, the vehicle guidance is carried out entirely on the basis of the steering assistance external to the steering system, whereas when the estimated value is determined as the first estimated value, the vehicle guidance is only partially carried out by the steering assistance external to the steering system. This advantageously results in a further improvement in operational safety, since it is possible to react variably to different degrees of damage.

[0049] In a further embodiment, the estimated value is determined by at least two different computing devices, in particular of the steering system, wherein a plausibility criterion is evaluated as a function of the at least two estimated values, wherein the steering system-external steering assistance is generated if the plausibility criterion is additionally met.

[0050] The two computing devices can be two computing devices of a control unit. The computing devices can be control devices for generating control signals for operating the steering system, in particular for operating a drive device of the steering system. In this case, it is possible for a first computing device to serve as the main computing device and the at least one further computing device to serve as a backup computing device, wherein in an error-free state of the main computing device, this main computing device generates the control signals. In a non-error-free state of this main computing device, the backup computing device can generate the control signals or take over the generation of control commands. The computing devices can be connected via data and / or signal technology, e.g. via a vehicle communication system such as a bus system or via a communication interface such as an inter-micro communication interface.

[0051] The plausibility criterion can be evaluated by the main computing device or the backup computing device. For example, the plausibility criterion can be met if the estimated values ​​do not differ from each other or do not differ from each other by more than a predetermined amount. The plausibility criterion cannot be met if the two estimated values ​​differ from each other by more than a predetermined amount.

[0052] It is possible that the two computing devices determine the estimated values ​​in the same way or in different ways.

[0053] If the plausibility criterion is not met, a warning signal can be generated for the driver. However, in this case, no steering assistance is generated externally to the steering system, since the failure to meet the plausibility criterion means that it cannot be assumed with sufficient certainty that the estimated values ​​have been determined correctly. This advantageously further improves operational safety.

[0054] Further proposed is a device for operating a vehicle, in particular a steering system of the vehicle. The device comprises at least a first computing device and at least one control device. The first computing device and the at least one control device can comprise at least one microcontroller or an integrated circuit or can be designed as such. It is possible for the first computing device to form the control device. However, these devices can also be different devices from one another. The computing device determines a degree of damage or a state of health of at least one component of the steering system as an estimated variable.

[0055] According to the invention, the control device initiates the generation of steering assistance external to the steering system if at least one damage criterion, which is evaluated as a function of the estimated variable, is met and a steering operation is detected. The steering assistance external to the steering system supports or completely takes over vehicle guidance during the steering operation. It is possible for the computing device or the control device to evaluate the damage criterion. Furthermore, the computing device, the control device, or a device different from them can detect the steering operation. In this way, vehicle guidance intended by the steering operation can also be determined. The device is thus configured such that a method according to one of the embodiments described in this disclosure can be carried out with the device.The proposed device thus advantageously enables the implementation of a method for operating the vehicle with increased operational reliability.

[0056] In a further embodiment, the device comprises at least one further computing device, wherein the further computing device is different from the first computing device. As explained above, the first computing device can be a main computing device and the further computing device can be a backup computing device. The estimated value is determined in each case by the at least two computing devices, wherein a plausibility criterion is evaluated depending on the at least two estimated values ​​determined in this way, wherein the control device initiates generation of the steering system-external steering assistance if the plausibility criterion is also met. This and corresponding advantages have already been explained above.

[0057] A vehicle with such a device is also described.

[0058] The invention is explained in more detail below using preferred embodiments. The figures show: Fig. 1 a schematic flow diagram of a method according to the invention, Fig. 2 a schematic flow diagram of a method according to the invention in a further embodiment, Fig. 3 a schematic flow diagram of a method according to the invention in a further embodiment, Fig. 4 a schematic block diagram of a device according to the invention, and Fig. 5 a schematic block diagram of a device according to the invention in a further embodiment.

[0059] In the following, the same reference symbols designate elements with the same or similar technical features.

[0060] Fig. 1 shows a schematic flowchart of a method according to the invention for operating a vehicle. In a first step S1, an estimated variable SG of at least one component of a steering system of the vehicle is determined. Exemplary components of the steering system have already been explained above. A degree of damage or a state of health of the at least one component can be determined as the estimated variable SG using a method known to those skilled in the art.

[0061] In a second step S2, a damage criterion is checked, which is evaluated depending on the at least one estimated variable SG. If the damage criterion is not met, the method returns to the first step S1. If the damage criterion is met, a third step S3 checks whether a steering maneuver is initiated or being carried out. If this is not the case, the method can repeat this step S3, in particular after a predetermined period of time has elapsed. If it is detected that a steering maneuver is initiated or being carried out, in a fourth step S4, the vehicle guidance intended by the steering maneuver is supported by steering assistance external to the steering system. The intended vehicle guidance can also be determined before the assistance is provided by the steering assistance external to the steering system. The steering assistance external to the steering system can be generated, in particular, by a braking intervention.

[0062] It is possible that in the first step S1, a health status of at least one component is first determined, with a degree of damage being determined as an estimated value SG depending on the health status. The degree of damage or the health status can be determined depending on at least one sensor-based variable, which is used directly or indirectly for the determination.

[0063] Furthermore, it is possible that the level of support in the fourth step S4 is selected depending on the at least one estimated variable SG, in particular depending on its level.

[0064] Fig. Figure 2 shows a schematic flow diagram of a method according to the invention in a further embodiment. It shows a first step S1a, in which a component-specific estimated variable SGa of a first component of the steering system is determined. In a second step S2a, a component-specific damage criterion for this first component is evaluated as a function of this component-specific estimated variable SGa. If this damage criterion is met, the method continues with a third step S3, which corresponds to the Fig. 1. If the damage criterion for the first component is not met, a component-specific estimated value SGb is determined for a further component of the steering system in a further first step S1b, and in a further second step S2b, a component-specific damage criterion for this further component is evaluated depending on this component-specific estimated value SGb. If this damage criterion is met, the method continues, as explained, with the third step S3. If this further criterion is not met, component-specific estimated values ​​for further components and damage criteria are determined or evaluated. Fig. 2 shows that a steering system comprises n components, for each of which a component-specific estimated variable SGn can be determined, wherein in a further first step S1n this nth component-specific estimated variable SGn is determined and in a further second step S2n a further damage criterion, which is specific to this nth component, is evaluated as a function of this estimated variable SGn. If this is also not met, the method returns to the first step S1. If the further component-specific damage criterion for the nth component is met, the method continues with the third step S3. In particular, in this third step S3 it is detected whether a steering process is initiated or carried out, wherein in a fourth step S4 the vehicle guidance intended during the steering process is supported by steering assistance external to the steering system.

[0065] Fig. 3 shows a schematic flow diagram of a method according to the invention in a further embodiment. It is shown that for n components of a steering system of the vehicle, a component-specific estimated variable SGa, SGb, ..., SGn is determined in first steps S1a, S1b, ..., S1n. Then, in a determination step, an overall estimated variable SGr is determined as a function of these component-specific estimated variables SGa, SGb, ..., SGn. In a second step S2, a damage criterion, which is evaluated as a function of the overall estimated variable SGr, is checked and, if this is met, the method is continued with the method already described in connection with Fig. 1 and Fig. 2 shown third and fourth steps S3, S4.

[0066] Fig. Figure 4 shows a schematic block diagram of a device 1 for operating a vehicle, wherein the device 1 comprises a first computing device 2 and a control device 3. The computing device 2 determines a degree of damage or a state of health of at least one component of the steering system as an estimated variable SG.

[0067] For this purpose, the computing device can evaluate input variables that are transmitted, for example, via a vehicle communication network to the computing device 2. Such input variables can, in particular, be sensor-detected variables or variables calculated from sensor-detected variables. Examples shown are m-input variables E1, E2, ..., Em, which can represent, for example, a temperature value, a current value, a torque value, or other values.

[0068] Furthermore, the computing device 2 can check the at least one damage criterion, which is evaluated as a function of the at least one estimated variable SG, and also detect whether a steering maneuver is present or initiated. If the damage criterion is met and such a steering maneuver is detected, the computing device 2 can transmit a corresponding signal to the control device 3, which then generates a control signal S for generating the steering assistance external to the steering system.

[0069] Fig.5 shows a schematic block diagram of a device 1 according to the invention in a further embodiment. It is shown that the device 1 comprises a first computing device 2a, which can also be referred to as the main computing device, and a second computing device 2b, which can also be referred to as the backup computing device. These computing devices 2a, 2b can be part of a common control unit independently of one another, i.e., in particular, can be arranged within the housing of this control unit. It is shown that the two computing devices 2a, 2b each receive the same input variables E1, E2, ..., Em. It is further shown that both computing devices independently determine a component-specific estimated variable SG. The estimated variable SG determined by the second computing device 2a can be transmitted to the first computing device 2a via an inter-microcommunication interface 4.There, in a step SP, a plausibility criterion is evaluated depending on the at least two estimated variables SG. The control device 3 is only prompted to generate a control signal S for generating the steering system-external steering assistance if this plausibility criterion is met. List of reference symbols 1 Device for operating a vehicle 2 first computing device 2a first computing device 2b second computing device 3 Control device 4 Inter-microcommunication interface S1 first step S2 second step S3 third step S4 fourth step S1a, S1b, ..., S1n first steps S2a, S2b, ..., S2n second steps SG estimated size SGa, SGb, ..., SGn component-specific estimate SGr resulting estimate E1 first input variable E2 second input variable Em m-th input variable SP plausibility step QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2023 / 0097944 A1

[0006] US 10,752,282 B2

[0007] US 11,605,252 B2

[0008] US 2022 / 0263849

[0009]

Claims

[1] Method for operating a vehicle, wherein a degree of damage or a state of health of at least one component of a steering system of the vehicle is determined as an estimated variable (SG), characterized by that steering assistance external to the steering system is generated if at least one damage criterion, which is evaluated as a function of the at least one estimated variable (SG), is met and a steering operation is detected, wherein the steering assistance external to the steering system supports vehicle guidance during the steering operation. [2] Method according to claim 1, characterized by that a health status of at least one component is determined, whereby the degree of damage is determined as an estimated value (SG) depending on the health status. [3] Method according to claim 2, characterized by that the estimated value (SG) is determined as a function of at least one sensor-based value. [4] Method according to one of the preceding claims, characterized by that a component-specific estimated value (SGa, SGb,..., SGn) is determined by at least two components of the steering system, wherein a damage criterion is evaluated for each component-specific estimated value (SGa, SGb,..., SGn), wherein the steering system-external steering assistance is generated if at least one damage criterion is met and the steering process is detected. [5] Method according to one of claims 1 to 3, characterized by that a component-specific estimated value (SGa, SGb,..., SGn) is determined by at least two components of the steering system, wherein an overall estimated value (SGr) is determined as a function of the component-specific estimated values ​​(SGa, SGb,..., SGn), wherein the steering system-external steering assistance is generated if a damage criterion, which is evaluated as a function of the overall estimated value (SGr), is met and the steering process is detected. [6] Method according to one of the preceding claims, characterized by that the steering assistance external to the steering system is generated by a braking intervention. [7] Method according to one of the preceding claims, characterized by that a level of support is set depending on at least one estimated value (SG). [8] Method according to one of the preceding claims, characterized by that the estimated value (SG) is determined in each case by at least two different computing devices (2a, 2b), wherein a plausibility criterion is evaluated as a function of the at least two estimated values ​​(SG), wherein the steering assistance external to the steering system is generated if the plausibility criterion is additionally fulfilled. [9] Device for operating a vehicle, wherein the device (1) comprises at least one computing device (2a) and at least one control device (3), wherein the computing device (2a) determines as an estimated value (SG) a degree of damage or a state of health of at least one component of the steering system, characterized by that the control device (3) causes a generation of steering assistance external to the steering system if at least one damage criterion, which is evaluated as a function of the estimated variable (SG), is met and a steering operation is detected, wherein the steering assistance external to the steering system supports vehicle guidance during the steering operation. [10] Device according to claim 9, characterized byin that the device (1) comprises at least one further computing device (2b), wherein the further computing device (2b) is different from the first computing device (2a), wherein the estimated variable (SG) is determined in each case by the at least two computing devices (2a, 2b), wherein a plausibility criterion is evaluated as a function of the at least two estimated variables (SG), wherein the control device (3) initiates generation of the steering system-external steering assistance if the plausibility criterion is additionally met.

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