Method for operating a vehicle, computer program product, and vehicle

Abstract

The invention relates to a method (100) for operating a vehicle (1), comprising: an operating system (10) having at least one steering means (11) for carrying out a steering movement (201) by a driver; and a control system (20) for a chassis (2) of the vehicle (1), comprising a braking device (21) having at least one braking unit (21.1) for applying a braking force for braking wheels (3) of the vehicle (1) and a steering unit (22) which is at least partially mechanically decoupled from the steering means (11) for steering the vehicle (1) as a function of a steering movement (201). The invention further relates to a computer program product and to a vehicle (1).

Description

Technical Field

[0001] The invention relates to a method for operating a vehicle, a computer program product and a vehicle. Background Art

[0002] In electromechanical braking systems with electromechanical wheel brakes, it may happen that during a braking process one of the wheel brakes fails independently of the others. As a result, under certain circumstances during the braking process, yaw moments and / or tilting of the vehicle may occur due to the thus uneven distribution of the braking torque at the respective axle. It is known to subject the driver to counter-control by means of steering interventions.

[0003] In order to avoid this, it is known from US 2005 / 0057095 A1 to set the yaw of the vehicle by automatic intervention at the asymmetrical braking and steering means. Here, the steering behavior of the driver is only considered as an input variable. However, in addition to the driving behavior of the vehicle, the behavior of the steering wheel also plays an important role in the driver's driving experience. Summary of the invention

[0004] The object of the present invention is to at least partially eliminate the above-mentioned disadvantages known from the prior art. In particular, the object of the present invention is to provide at least partial compensation at the running gear in the case of critical states of the brake unit in a driving situation and at the same time improve the driving experience of the driver in this driving situation.

[0005] The above-mentioned object is achieved by a method having the features of claim 1, a computer program product having the features of claim 9 and a vehicle having the features of claim 10. Further features and details of the invention can be derived from the corresponding dependent claims, the description and the drawings. Features and details described in conjunction with the method according to the invention are of course also applicable in conjunction with the computer program product according to the invention and / or the vehicle according to the invention, and vice versa, respectively, so that the disclosure of the individual inventive aspects always refers to each other or can refer to each other.

[0006] According to a first aspect of the invention, a method for operating a vehicle is provided. The vehicle comprises an operating system having at least one steering device for a driver to implement a steering movement. In addition, the vehicle comprises a control system for a running gear of the vehicle, the control system having a brake system with at least one brake unit for applying a braking force to brake the wheels of the vehicle and a steering unit at least partially or completely mechanically decoupled from the steering device for steering the vehicle according to the steering movement. The method comprises, in particular, the following method steps:

[0007] - in particular by a control unit of the vehicle detecting a driving situation in which the brake unit has a critical state which influences the application of the braking force,

[0008] - in particular by determining the disturbance torque by the control unit as a function of the driving situation,

[0009] - in particular by determining the control behavior of the steering device according to the driving situation by the control unit,

[0010] - actuating the control system as a function of the disturbance torque, in particular by means of the control unit, in order to at least partially or completely compensate for the disturbance torque,

[0011] - In particular, the steering device is actuated by the control unit in accordance with the control action.

[0012] The vehicle can preferably be a motor vehicle, for example in the form of an electric vehicle and / or an aircraft. The steering device and the steering unit can advantageously form a steer-by-wire system. The brake device, in particular the brake unit, and the brake device of the operating system can form a brake-by-wire system.

[0013] The steering device can be arranged in particular in the passenger compartment of the vehicle. For example, the steering device can be rotatable in order to implement the steering movement. The steering device preferably comprises a steering wheel.

[0014] For example, the steering unit may include a rack and / or an actuator for steering one or more wheels of the vehicle. The steering unit may be arranged in the vehicle, in particular, on the chassis side. The steering device and the steering unit may be electrically and / or electronically connected to one another and / or directly or indirectly in communication connection with one another. It is conceivable that the control unit is connected between the steering unit and the steering device.

[0015] The brake unit preferably has a plurality of, in particular, similar brake units, which are associated in pairs with oppositely disposed wheels. The brake unit may preferably comprise an electric brake. To this end, the brake unit may comprise an actuator, in particular in the form of an electric motor, by means of which a braking force may be applied at least in the normal state of the brake unit. To this end, the actuator may act, for example, with a brake caliper and / or a brake disc of the brake unit. A critical state may comprise a fault in the brake unit and / or in a communication connection of the brake unit. In a critical state, the braking force of the brake unit may be reduced or may not be applied, for example due to a failure of the actuator. However, it is also conceivable that the actuator may not be able to return completely to the initial position due to a fault. In this case, an increased braking force may be present in the critical state.

[0016] When identifying the driving situation, in particular the critical state of the brake unit can be detected. In this case, the critical state of the brake unit can be detected directly at the brake unit or indirectly, for example by evaluating the driving behavior of the vehicle. The interfering torque can include a torque that rotates the vehicle, in particular around the height axis of the vehicle. For example, during the braking process, due to the uneven braking torque distribution at the axle associated with the brake unit caused by the critical state of the brake unit, an interfering torque in the form of a yaw torque and / or a deflection of the vehicle can occur. The interfering torque can be calculated depending on the driving situation, in particular depending on the critical state of the brake unit.

[0017] When the control system is actuated according to the driving situation, it can be provided that disturbing torques and / or critical states are at least partially or completely compensated. For example, when the control system is actuated, disturbing torques can be at least partially or completely compensated by generating a counter torque at the chassis that counteracts the deflection of the vehicle.

[0018] It can be arranged that the disturbance torque determined according to the driving situation is taken into account when determining the control behavior and / or when manipulating the steering device. The control behavior of the operating system can include tactile feedback to the driver. For example, the critical state of the brake unit and / or the driving situation by manipulating the steering device can be pointed out to the driver by tactile feedback. In addition, it can be arranged that the control behavior is adapted to the driving situation in a situation-adaptive manner. In particular, it is advantageous to adapt the resistance behavior of the steering device relative to the steering movement in straight-line driving, for example, so as to indicate the critical state to the driver when driving on a subsequent curve. However, it is also conceivable that the control behavior includes the normal operation of the steering device, which in particular excludes the disturbance torque. In particular, if the vehicle is already in a curve when the critical state is identified, the driver can be prevented from being confused by the control behavior changed by the disturbance torque. By at least partially decoupling the steering unit from the steering device, the steering device can be manipulated independently of the steering unit when manipulating according to the control behavior. It is conceivable that the braking control behavior of the braking device is determined in addition to the steering control behavior of the steering device, so as to manipulate the braking device according to the braking control behavior. For example, haptic feedback about the driving situation can also be provided via the brake means and / or the braking force boost and / or the pedal resistance can be adapted as a function of the driving situation.

[0019] By controlling the control system, the safety of the vehicle in the driving situation can be improved, in particular by at least partially or completely compensating for the disturbance torque in the driving behavior of the vehicle. By controlling the operating system, in particular separately and / or independently, depending on the control behavior, the driving comfort and / or driving safety of the driver can be improved at the same time, preferably in a manner adapted to the situation.

[0020] It is also conceivable within the scope of the present invention that the determination of the disturbance torque and / or the determination of the control behavior is carried out according to the steering movement at the steering device and / or the driver's preset at the brake device of the operating system, in particular for limiting the total braking force of the brake device. For example, the brake device can include a brake pedal. It is conceivable that the disturbance torque is offset by the steering torque initiated by the steering movement and / or the braking torque initiated by the driver's preset. For example, the disturbance torque can be determined according to the braking torque of the vehicle initiated by the driver's preset and / or the steering initiated by the steering movement according to the braking force of the brake unit. In particular, the disturbance torque can be a yaw torque to be expected when implementing the driver's preset and / or steering movement and / or a yaw torque that already exists due to the driver's preset. In addition, the steering behavior can be determined according to the steering movement, for example, by determining a control curve for the resistance behavior of the steering device and / or the steering transmission ratio. As a result, the driver's behavior in the driving situation can be taken into account in the reaction to the driving situation and / or critical state.

[0021] Furthermore, it is conceivable in the method according to the invention that the control behavior includes a steering ratio for defining the coupling between the steering movement and the steering behavior of the steering unit. In the context of the present invention, the steering ratio is preferably understood to be an, in particular electronic, coupling between the steering device and the steering unit. For example, in the case of an electronic coupling, it can be provided that the steering unit implements the adjustment of the wheels of the vehicle in a ratio relative to the steering movement of the steering device defined by the steering ratio. In particular, the steering assistance can be defined by the steering ratio. For example, when determining the steering behavior, the speed of the vehicle can be taken into account in order to define the steering ratio. Since the steering behavior includes the steering ratio, direct or indirect steering can be preset, in particular depending on the driving situation when a critical state is identified, in order to enable a counter-reaction of the driver and / or to prevent a counter-reaction caused by compensation of a disturbance torque.

[0022] In addition, it is conceivable in the method according to the invention that the control behavior includes a correction behavior, by which a correction torque can be applied and / or applied at the steering device when the steering device is operated to influence the steering movement, in particular, wherein the steering movement is preferably actively facilitated against the disturbance torque and / or difficult in the direction of the disturbance torque by the correction behavior. The correction torque can include a resistance torque of the steering device, which is applied at the steering device against the steering movement. The current position of the steering device can be taken into account here. This can facilitate the driver's response. For example, it can be provided that the disturbance torque is only partially or only temporarily compensated when the control system is operated. By the correction behavior, an improved reaction can be indicated to the driver. In addition, by the correction behavior, an indication of a critical state can be provided to the driver. In particular, in fast cornering, a driving experience can be intuitively generated, wherein the driver confirms that the critical state exists and intuitively adapts his driving behavior thereby. Preferably, by the correction behavior, a mapping of the critical state and / or driving condition of the brake unit to the steering device can be generated. At the same time, the safety of the vehicle can be ensured by at least partially compensating for the disruptive torque.

[0023] In addition, it can be advantageously arranged in the method according to the invention that, when the control system is operated, the brake device and / or the steering unit are operated according to the disturbance torque so as to apply a counter torque at the running mechanism to at least partially or completely compensate for the disturbance torque. For example, the compensation can be carried out by an asymmetric braking process at the brake device. For this purpose, the other brake units of the brake device, in particular the brake units at the other wheels, can be operated with a braking force that compensates for the braking force influence of the brake unit in a critical state. In addition, the counter torque can also be applied by the counter-steering at the steering unit. It can be arranged that the difference between the current wheel total braking torque and the theoretical wheel total braking torque is generated according to the disturbance torque in order to determine the level of the additional, in particular asymmetric, wheel braking torque applied to the brake unit of the brake device that is still in the normal state. In particular, the desired deceleration of the vehicle can be maintained or substantially maintained thereby. When the brake device is operated, the difference of the wheel braking torque is preferably distributed to the brake unit that remains in the normal state under consideration of the vehicle stability in order to implement the asymmetric braking process.

[0024] In the scope of the present invention, it is also conceivable that, in order to identify the driving situation, a diagnostic process is carried out, in particular in which a communication connection for controlling the brake unit is monitored in terms of a critical state. For example, the communication connection may include a data bus. When monitoring the communication connection, for example, a data disconnection can be identified. For example, the brake unit may have a circuit board, through which a data packet can be sent to the control unit. Based on the absence of a brake unit data packet, a critical state can be identified. It is also conceivable that state information, such as state information about the voltage supply, the braking force and / or the temperature of the brake unit, is transmitted via the communication connection during the operation of the brake unit. Based on the state information, a critical state can be confirmed. It is also conceivable that the brake unit confirms the critical state, for example, based on the current parameter itself for controlling the actuator and reports the critical state to the control unit of the vehicle in particular. In particular, when monitoring the communication connection, it is therefore possible to receive error values ​​and / or error information from the brake unit via the communication connection. For example, in the diagnostic process, the state of each brake unit can be determined and / or queried. It is also conceivable that in the diagnostic process, the theoretical wheel braking torque and / or the actual wheel braking torque of the wheels of the vehicle are determined and / or queried. In particular, the disturbance torque can also be determined based on the setpoint wheel braking torque and / or the actual wheel braking torque, taking into account the vehicle model. Thus, critical states can be detected by the diagnostic procedure, in particular even before the driver's braking request or directly at the time of the braking request. Thus, the control system and / or the steering device can be actuated before the driving situation itself becomes critical.

[0025] Furthermore, it is conceivable in the method according to the invention that, in order to identify a driving situation, in particular a critical situation, a theoretical driving behavior of the vehicle and an actual driving behavior of the vehicle are determined, preferably wherein the identification of a critical situation is carried out based on a comparison of the theoretical driving behavior and the actual driving behavior. The theoretical driving behavior and the actual driving behavior can be evaluated during and / or before the driving situation in order to identify the driving situation and / or the critical situation. For example, a theoretical trajectory of the vehicle can be calculated, in particular based on steering movements, and the actual trajectory can be detected, in particular based on sensor data of a sensor system of the vehicle. When identifying the driving situation and / or when determining the disturbance torque, the theoretical trajectory and the actual trajectory can be compared in order to identify the critical situation and / or the disturbance torque based on the deviation between the theoretical trajectory and the actual trajectory.

[0026] Preferably, in the method according to the invention, it can be arranged that the identification of the driving condition, the determination of the interfering torque and / or the control system are operated according to a vehicle model with vehicle-specific characteristics. The vehicle model can include static and / or dynamic characteristics of the vehicle, especially characteristics with respect to the driving condition. For example, the vehicle model can include the self-steering of the vehicle, the single-track model of the vehicle, mass characteristics (such as the center of gravity and / or the distribution of the center of gravity of the vehicle), the vehicle geometry and / or the wheel geometry (such as the wheel radius). Through the vehicle model, the control behavior can be individually coordinated with the vehicle and / or the driving condition. For example, by taking into account the vehicle model, the interfering torque can be determined with high accuracy even in complex driving conditions, in particular in order to achieve the most complete compensation of the interfering torque by the counter-torque. Safety in the driving condition can thereby be improved.

[0027] According to a further aspect of the invention, a computer program product is provided which comprises instructions which, when executed by a control and management unit, cause the control and management unit to carry out the method according to the invention.

[0028] Therefore, the computer program product according to the present invention has the same advantages as those described in detail about the method according to the present invention. In particular, the method can be a computer-implemented method. The computer program product can be implemented as a computer-readable instruction code. In addition, the computer program product can be stored on a computer-readable storage medium (such as a data CD, a mobile hard disk, a volatile or non-volatile memory or a built-in memory / processor). In addition, the computer program product can be provided or provided in a network (such as the Internet), and the computer program product can be downloaded from the network by the user when necessary or implemented online. The computer program product can be implemented by means of software, and can be implemented by means of one or more special electronic circuits, that is, implemented in hardware or any mixed form, that is, implemented by means of software components and hardware components.

[0029] According to another aspect of the invention, a vehicle is provided. The vehicle has an operating system with at least one steering device for a driver to implement a steering movement. In addition, the vehicle has a chassis with a control system with a brake system with at least one brake unit for applying a braking force to brake the wheels of the vehicle and a steering unit at least partially mechanically decoupled from the steering device for steering the vehicle according to the steering movement. In addition, the vehicle has a control unit for implementing the method according to the invention.

[0030] Therefore, the vehicle according to the invention has the same advantages as those already described in detail with respect to the method according to the invention and / or the computer program product according to the invention. The control unit may comprise a processor and / or a microprocessor. Furthermore, the control unit may be at least partially or completely integrated into a central controller of the vehicle. However, it is also conceivable that the control unit is at least partially or completely integrated into one or more decentralized controllers. For example, the control unit may be integrated into a steering and / or brake controller of a control system. It may be provided that the interfering torque is determined in the brake controller and / or the steering controller. Furthermore, in the steering controller, an offset steering angle may be determined based on the interfering torque, which offset steering angle is offset by a steering angle set by the driver based on the steering movement, i.e. in particular the position of the steering device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Further advantages, features and details of the invention can be derived from the following description, in which exemplary embodiments of the invention are described in detail with reference to the accompanying drawings. The features mentioned in the claims and the description may be important to the invention individually or in any combination. Schematically:

[0032] Figure 1 A vehicle according to the invention is shown for carrying out the method according to the invention, Figure 2 The method is shown schematically as a diagram of the method steps, and

[0033] Figure 3 A steering device of a vehicle with control behavior is shown.

[0034] In the following description about some embodiments of the present invention, the same reference numerals are used for the same technical features even in different embodiments. DETAILED DESCRIPTION

[0035] Figure 1A vehicle 1 according to the invention is shown in a first embodiment. The vehicle 1 comprises an operating system 10 having at least one steering device 11, in particular in the form of a steering wheel, for implementing a steering movement 201 by the driver and a braking device 12, in particular in the form of a brake pedal, for detecting a driver presetting for a braking process. In addition, the vehicle 1 has a chassis 2 having a control system 20 for controlling the chassis 2. The control system 20 comprises a brake device 21 having a plurality of brake units 21.1, which are respectively associated with a wheel 3 of the chassis 2. Each of the brake units 21.1 is configured to apply a braking force to brake the associated wheel 3. For example, the brake units 21.1 can each comprise an actuator for applying a braking force. In particular, the brake device 12 and the brake units 21.1 form a brake-by-wire system. The control system 20 further comprises a steering unit 22, which is at least partially mechanically decoupled from the steering device 11, for steering the vehicle 1 according to the steering movement 201. The steering device 11 and the steering unit 22 preferably form a steer-by-wire system.

[0036] Furthermore, the vehicle 1 comprises a control unit 30 for carrying out the method 100 according to the invention for operating the vehicle 1, such as Figure 2 Preferably, a computer program product is provided, which comprises instructions which, when executed by the control unit 30 , cause the control unit 30 to carry out the method 100 .

[0037] The method 100 comprises identifying 101 a driving situation 200 in which at least one of the brake units 21.1 has a critical state I that influences the application of the braking force. For this purpose, for example, a theoretical driving behavior of the vehicle 1 and an actual driving behavior of the vehicle 1 can be determined, in particular based on a vehicle model 202. In order to confirm the critical state I, it can be determined when comparing the theoretical driving behavior and the actual driving behavior whether the deviation of the theoretical driving behavior and the actual driving behavior is outside the adjustment tolerance. Preferably, in order to identify 101 the driving situation 200, a diagnostic process 230 is carried out, in which one or more communication connections 23 for actuating the brake unit 21.1 are monitored with respect to the critical state I. For example, the communication connection 23 can include an electrically conductive and / or wireless connection. In particular, the signal exchange between the control unit 30 and the brake unit 21.1 can be carried out via the communication connection 23. If the communication signal is interrupted or an error message is transmitted, the critical state I of the corresponding brake unit 21.1 can be inferred.

[0038] In critical state I, the braking force may be reduced, disabled or increased. Figure 1, if the brake unit 21.1 of the left front wheel 3 has a critical state I and can apply a smaller braking force than the braking force applied by the remaining brake units 21.1, which are in the normal state II, a disturbance torque 210 in the form of a yaw moment and / or a deflection of the vehicle 1 about the opposite, more strongly braked wheel 3 can be initiated. Therefore, in the method 100, the disturbance torque 210 is determined 102 based on the driving situation 200 and the vehicle model 202. The vehicle model 202 can provide parameters of the driving behavior of the vehicle 1. For example, the vehicle model 202 can be stored in the control unit 30. In particular, if the critical state I is detected according to the diagnostic process 230, the vehicle model 202 can be used to predict the disturbance torque 210 without detecting the actual driving behavior of the vehicle 1. Furthermore, it is conceivable to take into account steering movement 201 at steering means 11 and / or a driver specification at brake means 12 when determining 102 disturbance torque 210 in order to at least partially maintain a target trajectory of vehicle 1 .

[0039] Furthermore, in the method 100, a control behavior 220 of the steering device 11 and preferably of the braking device 12 is determined 103 as a function of the driving situation 200. For example, the control behavior 220 of the steering device 11 may include a steering ratio for defining a coupling between the steering movement 201 and the steering behavior of the steering unit 22. Furthermore, a definition of the braking force increase at the braking device 12 may be determined. Furthermore, as Figure 3 , the control behavior 220 may include a correction behavior 222, by which, when the steering device 11 is actuated 105, in particular as a function of the steering movement 201 at the steering device 11 and / or a driver presetting, a correction torque may be applied and / or exerted at the steering device 11 to influence the steering movement 201. By means of the correction behavior 222, in particular as a function of the position 11.1 of the steering device 11 in the steering movement 201, a steering movement 201 against the interfering torque 210 is facilitated and / or in the direction of the interfering torque 210 is made more difficult.

[0040] Subsequently, the control system 20 is actuated 104 as a function of the disturbance torque 210 in order to at least partially compensate for the disturbance torque 210, and the steering device 11 is actuated 105 as a function of the control behavior 220. For example, the correction behavior 222 may include a resistance torque at the steering device 11, which is applied to the steering device 11 as a function of the position 11.1 of the steering device 11 when the steering device 11 is actuated 105. When the control system 20 is actuated 104, the brake system 21 and / or the steering unit 22 are actuated as a function of the disturbance torque 210 and / or the vehicle model 202 in order to apply a counter torque to the running gear 2 in order to at least partially compensate for the disturbance torque 210. For example, the brake unit 21.1 operating in the normal state II may apply an asymmetrically distributed braking force and / or the steering unit 22 may implement countersteering.

[0041] Thus, by actuating 104 of control system 20, the safety of vehicle 1 in driving situation 200 can be increased by at least partially or completely compensating for disturbance torque 210 in the driving behavior of vehicle 1. By actuating 105 steering element 11 according to control behavior 220, in particular separately and / or independently from actuation 104 of control system 20, the driving comfort and / or driving safety of the driver can be improved at the same time, preferably in a situation-adapted manner, by the driver receiving feedback and / or support regarding driving situation 200.

[0042] The above explanation of the embodiment only describes the invention in the scope of examples. Of course, without departing from the scope of the invention, the individual features of the embodiment can be freely combined with each other as long as it is technically meaningful.

[0043] Reference numerals list

[0044] 1. Transportation

[0045] 2 Traveling mechanism

[0046] 3 Wheels

[0047] 10 Operating System

[0048] 11 Steering device

[0049] 11.1 Position of 11

[0050] 12 Braking devices

[0051] 20 Control System

[0052] 21 Braking equipment

[0053] 21.1 Braking unit

[0054] 22 Steering unit

[0055] 23 Communication Connection

[0056] 30 control unit

[0057] 100 Methods

[0058] 101 recognition 200

[0059] 102 OK 210

[0060] 103 OK 220

[0061] 104 Control 20

[0062] 105 Control 11

[0063] 200 Driving conditions

[0064] 201 Steering Movement

[0065] 202 Transportation Models

[0066] 210 Interference torque

[0067] 220 Control Behavior

[0068] 222 Modifying Behavior

[0069] 230 Diagnostic Process

[0070] I Critical Status

[0071] II Normal state

Claims

1. A method (100) for operating a vehicle (1), the vehicle comprising: an operating system (10), the operating system having at least one steering device (11) for a driver to perform a steering movement (201); and a control system (20) for a running gear (2) of the vehicle (1), the control system having a brake device (21) with at least one brake unit (21.1) for applying a braking force to brake a wheel (3) of the vehicle (1) and a steering unit (22) at least partially mechanically decoupled from the steering device (11) for steering the vehicle (1) according to the steering movement (201), The method comprises: - identifying (101) a driving situation (200) in which the brake unit (21.1) has a critical state (I) that influences the application of the braking force, - determining (102) a disturbance torque (210) as a function of the driving situation (200), - determining (103) a control behavior (220) of the steering device (11) according to the driving condition (200), - controlling (104) the control system (20) as a function of the disturbance torque (210) in order to at least partially compensate for the disturbance torque (210), - controlling (105) the steering device (11) as a function of the control action (220).

2. The method (100) according to claim 1, It is characterized in that The determination (102) of the disturbance torque (210) and / or the determination (103) of the control behavior (220) are performed based on a steering movement (201) at the steering device (11) and / or a driver presetting at a brake device (12) of the operating system (10).

3. The method (100) according to claim 1 or 2, It is characterized in that The control behavior (220) comprises a steering transmission ratio for defining a coupling between the steering movement (201) and a steering behavior of the steering unit (22).

4. The method (100) according to any one of the preceding claims, It is characterized in that The control behavior (220) includes a correction behavior (222), by which a correction torque can be applied and / or exerted at the steering device (11) when operating (105) the steering device (11) to influence the steering movement (201), wherein, by means of the correction behavior (222), the steering movement (201) is facilitated against the interfering torque (210) and / or becomes difficult in the direction of the interfering torque (210).

5. The method (100) according to any one of the preceding claims, It is characterized in that When the control system (20) is actuated (104), the brake system (21) and / or the steering unit (22) are actuated as a function of the disturbance torque (210) in order to apply a counter torque to the chassis (2) in order to at least partially compensate for the disturbance torque (210).

6. The method (100) according to any one of the preceding claims, It is characterized in that In order to identify (101) the driving situation (200), a diagnostic process (230) is carried out in which a communication connection (23) for actuating the brake unit (21.1) is monitored with respect to the critical state (I).

7. The method (100) according to any one of the preceding claims, It is characterized in that In order to identify (101) the driving situation (200), a theoretical driving behavior of the vehicle (1) and an actual driving behavior of the vehicle (1) are determined, wherein the identification (101) of the critical state (I) is performed based on a comparison of the theoretical driving behavior and the actual driving behavior.

8. The method (100) according to any one of the preceding claims, It is characterized in that The recognition (101) of the driving situation (200), the determination (102) of the disturbance torque (210) and / or the activation (104) of the control system (20) are carried out according to a vehicle model (202) having vehicle-specific characteristics.

9. A computer program product comprising instructions which, when executed by a control and management unit (30), cause the control and management unit (30) to carry out the method (100) according to any one of the preceding claims.

10. A means of transport (1), comprising: An operating system (10) having at least one steering device (11) for a driver to perform a steering movement (201), A running gear (2) having a control system (20) having a brake device (21) with at least one brake unit (21.1) for applying a braking force to brake a wheel (3) of the vehicle (1) and a steering unit (22) at least partially mechanically decoupled from the steering device (11) for steering the vehicle (1) according to the steering movement (201), and A control unit (30) for implementing the method (100) according to any one of claims 1 to 8.

Images