Method for operating actuator assembly, actuator assembly, motor vehicle

Abstract

The invention relates to a method for operating an actuator arrangement, an actuator arrangement, and a motor vehicle, the actuator arrangement (2) having at least two actuatable actuators (3-1 to 3-8) and an actuation system (7), the control system has at least two control devices (8-1 to 8-8), each of which is associated with one of the actuators (3-1 to 3-8), and a central control device (9-1, 9-2), each of which is communicatively connected to the control devices (8-1 to 8-8) by means of a communication link, and wherein the central control device (9-1, 9-2) is connected to the control devices (8-1 to 8-8) by means of a communication link. The control devices (8-1 to 8-8) are controlled by the central control device (9-1, 9-2) in a fault-free normal operating mode of the actuator assembly (2) in order to control the respective actuator (3-1 to 3-8). It is provided that the control system (7) is monitored for malfunction, the operating state of the respective actuator (3-1 to 3-8) is monitored, and if a malfunction of the control system (7) associated with one of the actuators (3-1 to 3-8) is detected, the actuator (3-1 to 3-8) is activated. The associated actuator (3-1 to 3-8) is controlled directly by the control device (8-1 to 8-8) associated therewith as a function of the operating state of the other actuator (3-1 to 3-8) detected by the monitoring.

Description

Technical Field

[0001] The present invention relates to a method for operating an actuator assembly, in particular an actuator assembly for a motor vehicle, wherein the actuator assembly has at least two controllable actuators and an actuation system, the actuation system having at least two control devices respectively assigned to one of the actuators and a central control device respectively connected to the control devices via communication technology via communication connections, and wherein the control devices are controlled by the central control device in a fault-free normal operating mode of the actuator assembly in order to control the corresponding actuators.

[0002] Furthermore, the invention relates to an actuator assembly and a motor vehicle having such an actuator assembly. Background Art

[0003] Methods of the above type are known from the prior art. For example, actuator assemblies for braking systems of motor vehicles are known, wherein at least one actuator, in particular configured as an electromechanical wheel brake actuator, is respectively assigned to one of the four wheels of the motor vehicle. Each actuator is assigned its own control device, which is usually controlled by at least one central control device arranged remote from the actuator assembly. In particular, two of the wheels of the motor vehicle are respectively assigned a separate central control device in an axial or cross manner, which is responsible for the two wheel brake actuators in this regard. The central control device is usually responsible for distributing the braking force to the control devices assigned to the actuators for the entire vehicle by corresponding commands. In order to increase the reliability of the actuator assembly, it is known to implement the components redundantly to compensate for the failure of individual components and / or subsystems. Summary of the invention

[0004] The method according to the invention with the features of claim 1 is characterized in that the control system is monitored for faults, the operating states of the corresponding actuators are monitored, and when a fault of the control system associated with one of the actuators is detected, the associated actuator is directly controlled by the control device assigned thereto according to the operating states of the other actuators detected by the monitoring. As a result, the reliability is advantageously further improved compared to the actuator assembly mentioned at the beginning, even in the event of a fault in the control system, without complex redundancy. In this regard, the method is based on the idea that in the event of a fault, the control device assigned to the relevant actuator detects the activity of the other actuator, in particular by means of corresponding sensors, and automatically switches the actuator on, for example without the need for data exchange with a central control device. In particular, the operating state is monitored and / or detected by sensor signals of at least one sensor assigned to the actuator assembly, in particular the relevant actuator. Preferably, the central control device and / or the communication connection between the central control device and the control device is monitored for faults. Particularly preferably, the central control device is configured to receive signals from at least one other control device, in particular another central control device, at least one operating device, and / or a signal from at least one sensor that detects the operation of the operating device, which is assigned to a vehicle assistance system, in particular for automatic and / or autonomous driving operation, and to actuate at least one of the control devices according to the signal. Preferably, at least one corresponding communication connection between the central control device and the other control device, in particular another central control device, the operating device, and / or the sensor is monitored for a fault. Such a fault is also at least indirectly related to the corresponding actuator. For example, the operating device is configured as a brake pedal, an accelerator pedal, and / or a steering handle, in particular a steering wheel, wherein a braking desire, an acceleration desire, and / or a steering desire are preset and transmitted to the central control device by actuating the operating device. In particular, the braking desire, the acceleration desire, and / or the steering desire can be preset by the central control device and / or the other control device, in particular the other central control device, and / or such a desire is preset and transmitted to the central control device. Alternatively or additionally, the central control unit itself is part of a vehicle assistance system, in particular for automatic and / or autonomous driving operation, wherein signals, in particular in the form of a braking desire, an acceleration desire and / or a steering desire, are preset and / or can be preset by the central control unit and at least one of the control devices is controlled and / or can be controlled based on the signals.

[0005] According to a preferred development of the invention, the actuator is assigned to or respectively assigned to a controllable device, in particular a wheel brake device, a drive device and / or a steering device for at least one wheel or axle of a motor vehicle, and when the actuator is actuated by the control device, the corresponding device is actuated. In such an assignment of the actuator, the advantages of the method according to the invention are particularly evident. For example, a corresponding actuator with such a device is provided for each wheel of a motor vehicle, in particular four wheels. The application field of the device extends in particular to applications in the automotive industry, aviation technology, rail vehicle technology and / or medical technology.

[0006] It is particularly preferred that the actuators are configured as electromechanical actuators and each have an electric motor, and that the operating state of the actuators is monitored by current sensors and / or rotor position sensors assigned to the corresponding machine. Monitoring by means of such sensors results in the advantage that the operating state can be detected particularly simply and reliably. For example, the sensor assigned to the relevant actuator is used to indirectly monitor the operating state of other unrelated actuators. In particular, the sensor signals of one or more sensors are evaluated. For example, in normal operating mode, the sensor signals of these sensors are also evaluated in order to correctly control the actuator by means of a control device assigned to the actuator.

[0007] According to a preferred improvement of the present invention, the operating state of the actuator is monitored by an acceleration sensor and / or an acoustic sensor assigned to the corresponding actuator. The following advantage is produced by monitoring with the help of such sensors, namely a particularly simple and reliable detection of the operating state. For example, the sensor assigned to the relevant actuator is used to indirectly monitor the operating state of other unrelated actuators. In particular, the sensor signals of one or more sensors are evaluated. Preferably, a combination of different sensors is used, for example, one of the above-mentioned current sensors and / or rotor position sensors is additionally used to further improve the accuracy of detecting the operating state.

[0008] It is particularly preferred that the operating state of the actuator is monitored by a wheel speed sensor, a steering angle sensor, a position sensor of a rack of a steering gear and / or a contact force sensor of a wheel of the motor vehicle assigned to the corresponding actuator, and / or the operating state is monitored according to the driving force, driving torque, braking force and / or braking torque acting on the wheel. The following advantage is produced by monitoring with the help of such sensors, that is, the variables assigned to the wheel are directly detected, which further improves the accuracy of detecting the operating state of each individual actuator. For example, the corresponding sensor of the wheel assigned to the relevant actuator is used to indirectly monitor the operating state of other unrelated actuators. In particular, when the actuator is assigned to or respectively assigned to a wheel brake system or a drive system, as described above, the wheel speed on the wheel assigned to the relevant actuator is detected in order to identify the actuation of the unrelated actuator. Preferably, a combination of different sensors is used, for example, one of the above-mentioned current sensors, rotor position sensors, acceleration sensors and / or acoustic sensors is additionally used to further improve the accuracy of detecting the operating state.

[0009] According to a preferred development of the invention, it is provided that when a fault is detected, the corresponding control device is transferred from the normal operating mode to the fault operating mode, and in the fault operating mode, the sensor signal of the sensor assigned to the actuator is monitored in order to detect whether at least one other actuator of the actuator assembly is actuated based on the sensor signal. The fault operating mode advantageously ensures that the monitoring of the sensor signal is only carried out when necessary and is therefore carried out in a resource-saving, especially energy-saving manner. The monitoring of the sensor signal represents a particularly advantageous, simple and robust method for indirectly detecting the corresponding actuation without requiring a communication connection to the corresponding control device of the actuated actuator.

[0010] It is particularly preferably provided that, when the actuation of at least one other actuator is detected, the actuator associated with the fault in the actuation system is actuated by the control device assigned thereto to support the other actuator. This results in the advantage that the actuator reliably performs the tasks assigned to it, i.e. in particular, actuates the corresponding device together with other actuators, without communication coordination of the associated control device.

[0011] According to a preferred development of the invention, it is provided that the control of the actuator is interrupted after a predefined period of time and a decision is made as a function of the sensor signal ascertained after the interruption, in particular by comparing the sensor signal before the start of the control and after the interruption of the control, whether and how the control should be continued. This advantageously ensures that the actuator is controlled in a situation-dependent and particularly energy-saving manner, wherein it is particularly possible to identify whether the previous control of the actuator was sufficient or whether the control strategy must be adapted.

[0012] It is particularly preferably provided that the actuator is actuated without interruption and that a decision is made as a function of continuously ascertained sensor signals, in particular by comparing sensor signals before the start of the actuation and during the actuation, whether and how the actuation should continue. This advantageously ensures that the actuator is actuated continuously, in which case it is particularly recognized whether the previous actuation of the actuator was sufficient or whether the actuation strategy must be adapted.

[0013] According to a preferred improvement of the present invention, when a fault is detected and at least one other actuator is actuated, the other actuator is actuated more strongly at least within a preset time period. In this regard, the actuator is overactivated at least for a limited time, for example, in order to advantageously temporarily compensate for the fault, until the actuator associated with the fault is actuated by the control device assigned thereto due to the enhanced pulse triggered thereby, in order to support the other actuator as described above. In particular, the actuator associated with the fault is monitored for corresponding actuation to support the other actuator, and once the actuation is detected, the more actuation is canceled. In this regard, the reaction time is advantageously shortened, and it is also advantageously ensured that the actuator assembly continues to operate without loss until the actuation of the actuator is achieved. For example, when the actuators are respectively assigned to wheel brake systems, the other actuators are actuated to generate a higher vehicle deceleration by the wheel brake systems until the relevant actuators actuate their wheel brake systems in a supportive manner.

[0014] It is particularly preferably provided that in the faulty operating mode, a fault message is output, in particular on a display device. Outputting the fault message results in the advantage that the faulty operating mode is safely communicated to the outside, so that it can be perceived, for example, by a user of the actuator assembly.

[0015] An actuator assembly, in particular for a motor vehicle, having the features of claim 12 comprises at least two controllable actuators and an actuation system having at least two control devices, each of which is assigned to one of the actuators, and a central control device, each of which is connected to the control devices by means of a communication connection. It is characterized in that at least one of the control devices is designed specifically for carrying out the method according to the invention. This results in the advantages already mentioned.

[0016] The motor vehicle having the features of claim 13 is characterized by an actuator assembly according to the invention. This also results in the advantages already mentioned. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Further preferred features and feature combinations result from the above description and claims. In the following, the invention is explained in detail with the aid of the drawings. For this purpose,

[0018] Figure 1 An advantageous actuator assembly is shown, and

[0019] Figure 2 A method for operating an actuator assembly is shown. DETAILED DESCRIPTION

[0020] Figure 1 A motor vehicle 1 is shown having an advantageous actuator assembly 2. In order to illustrate various possibilities, the actuator assembly 2 has a plurality of components which can all be operated in the method described below, but are not mandatory in this specific combination.

[0021] In the present case, actuator arrangement 2 has a plurality of controllable actuators 3 - 1 to 3 - 8 , which are each associated with a front axle 4 or a rear axle 5 of the motor vehicle and at least indirectly with at least one wheel 6 - 1 to 6 - 4 of motor vehicle 1 .

[0022] Furthermore, the actuator arrangement 2 has an actuation system 7 having a plurality of control devices 8 - 1 to 8 - 8 , each of which is assigned to one of the actuators, and two central control devices 9 - 1 and 9 - 2 , which are each connected to the plurality of control devices 8 - 1 to 8 - 8 by means of communication technology, as indicated by corresponding connecting lines.

[0023] Here, as a minimum requirement of the method, the actuator assembly 2 has two controllable actuators from among the controllable actuators 3-1 to 3-8 and an actuation system 7, the actuation system having two control devices from among the control devices 8-1 to 8-8 respectively assigned to other actuators from among the actuators 3-1 to 3-8 and one of the central control devices 9-1 and 9-2, wherein the current arrangement in the motor vehicle 1 and the construction for the motor vehicle are also not mandatory.

[0024] Each actuator 3-1 to 3-8 is assigned one or a corresponding controllable device 10-1 to 10-7, wherein the devices 10-1 to 10-7 are each designed to be controlled when the corresponding actuator 3-1 to 3-8 is controlled by the corresponding control device 8-1 to 8-8.

[0025] Finally, the actuators 3-1 to 3-8, the devices 10-1 to 10-7 and / or the wheels 6-1 to 6-4 are each assigned a sensor assembly 11-1 to 11-7 having at least one sensor, which is designed to detect corresponding sensor variables, which in particular represent the corresponding operating state of the actuators 3-1 to 3-8.

[0026] In a specific embodiment, the actuators 3-1 to 3-4 are respectively assigned to exactly one of the wheels 6-1 to 6-4 and one of the devices 10-1 to 10-4, wherein the devices 10-1 to 10-4 are in particular respectively configured as wheel brake devices for one of the wheels 6-1 to 6-4. Alternatively or additionally, the devices are configured as drive devices and / or steering devices.

[0027] Therefore, actuators 3-5 and 3-6 are assigned devices 10-5 and 10-6, wherein these devices are particularly designed as wheel brake devices for providing a parking brake function and are respectively arranged on the same wheel 6-3 or 6-4 together with one of the devices 10-3 and 10-4 which are also designed as wheel brake devices for providing a service brake function.

[0028] Actuators 3-7 and 3-8 are jointly assigned a device 10-7, which is in particular designed as a steering device for two wheels 6-1 and 6-2 designed as front wheels. In the present case, each of the thus formed pairs of actuators 3-1 to 3-8 and devices 10-1 to 10-7 is assigned precisely one of the sensor assemblies 11-1 to 11-7 and at least in particular precisely one of the control devices 8-1 to 8-8.

[0029] Central control devices 9-1 and 9-2 are currently evenly distributed to control devices 8-1 to 8-8, wherein central control device 9-1 is connected to at least control devices 8-1, 8-2, 8-7 and 8-8 via communication technology, and central control device 9-2 is connected to at least control devices 8-3, 8-4, 8-5 and 8-6 via communication technology.

[0030] In particular, there are further communication connections (not shown for the sake of clarity) between the individual control devices 8 - 1 to 8 - 8 , the sensor assemblies 11 - 1 to 11 - 7 and / or the central control devices 9 - 1 and 9 - 2 .

[0031] In the following, reference Figure 2 An advantageous method for operating the actuator assembly 2 is described. To this end, Figure 2 The method is illustrated with the aid of a flow chart. In particular, the method ensures a high reliability of the actuator assembly 2 .

[0032] In step S1, the method starts in an error-free normal operating mode of the actuator assembly 2 as follows: the control devices 8-1 to 8-8 are controlled, in particular according to a braking preset, acceleration preset and / or steering preset for the motor vehicle 1, by the central control device 9-1 or 9-2 assigned to them in order to control their corresponding actuators 3-1 to 3-8.

[0033] Furthermore, the control system 7 is monitored for malfunctions, in particular failure of one of the central control devices 9-1 and 9-2, for example due to failure of the corresponding power supply and / or one of the communication connections between one of the central control devices 9-1 and 9-2 and one of the control devices 8-1 to 8-8.

[0034] If a fault of the control system 2 associated with one of the actuators 3-1 to 3-8 is detected, for example if one of the control devices 8-1 to 8-8 assigned to the actuator no longer receives or can no longer receive a control signal from the corresponding central control device 9-1 or 9-2, the method continues in step S2. Preferably, a fault message is now output, in particular on a display device assigned to the driver of the motor vehicle 1.

[0035] In step S2, the respective operating states of the actuators 3-1 to 3-8 are now monitored by means of the respective sensor assemblies 11-1 to 11-7, preferably by at least one, in particular all, respectively identical devices 10-1 to 10-7 and / or control devices 8-1 to 8-8 assigned to the actuators 3-1 to 3-8.

[0036] To this end, preferably, at least one of the control devices 8-1 to 8-8 is switched from a normal operating mode to a fault operating mode, in which sensor signals from sensors of corresponding sensor assemblies 11-1 to 11-7 are monitored in order to identify, based on the sensor signals, whether at least one other actuator among the actuators 3-1 to 3-8 is being controlled.

[0037] Preferably, at least one of the actuators 3-1 to 3-8 is constructed as an electromechanical actuator and has an electric motor, wherein the operating state and control recognition of the corresponding actuator 3-1 to 3-8 are monitored in particular by means of a current sensor and / or a rotor position sensor (as part of the corresponding sensor assembly 11-1 to 11-7) assigned to the machine.

[0038] Alternatively or additionally, the operating state and the actuation detection can be monitored, in particular by means of acceleration sensors and / or acoustic sensors assigned to the respective actuators 3 - 1 to 3 - 8 .

[0039] Alternatively or additionally, the operating state and control recognition are preferably monitored with the aid of wheel speed sensors, steering angle sensors, steering gear rack position sensors and / or contact force sensors assigned to wheels 6-1 to 6-4 assigned to the corresponding actuators 3-1 to 3-8, and / or the operating state and control recognition are monitored based on the driving force, driving torque, braking force and / or braking torque acting on the wheels 6-1 to 6-4.

[0040] If the actuation of at least one further actuator 3 - 1 to 3 - 8 which is assigned to the same type of device 10 - 1 to 10 - 7 as the relevant actuator 3 - 1 to 3 - 8 , in the present case in particular a wheel brake system, a steering system and / or a drive system, is detected in this way, the method continues with step S3 .

[0041] In step S3, the actuators 3-1 to 3-8 associated with the fault in the control system 7 are controlled directly by the control devices 8-1 to 8-8 assigned to the actuators according to the operating states of the other actuators 3-1 to 3-8 detected by monitoring, in order to support the other actuators 3-1 to 3-8.

[0042] about Figure 1 In the illustrated embodiment, for example, if the actuators 3-1 to 3-4 are respectively associated with devices 10-1 to 10-4 designed as wheel brake systems, then in the event of a failure of the communication connection between the control device 8-1 and the central control device 9-1, the sensor assembly 11-2 associated with the actuator 3-2 or the device 10-2 can be monitored by the control device 8-1 accordingly in order to directly detect the operating state of the actuator 3-2 and thus the braking presetting, for example, a sudden reduction in the wheel speed, and / or to detect a pitching movement or a deceleration of the motor vehicle 1 via sensor signals of an acceleration sensor. Alternatively or additionally, the sensor assembly 11-1 associated with the actuator 3-1 or the device 10-1 is monitored accordingly, in particular by the control device 8-1, in order to indirectly detect the operating state of the actuator 3-2 and thus the braking presetting, since, for example, a sudden reduction in the wheel speed with respect to the wheels 6-1 to 6-4 is perceptible at all actuators 3-1 to 3-4.

[0043] This also works analogously if devices 10 - 1 and 10 - 2 are designed as steering devices (wheel controllers, for example, detecting the operating state via lateral acceleration values ​​or steering angles) or drive devices (for example, detecting via sensor signals from acceleration sensors).

[0044] Another application case arises for actuators 3-7 and 3-8 that are assigned to a device 10-7 that is designed as a steering device in order to jointly actuate the device. For example, if the communication connection between the control device 8-7 of the actuator 3-7 and the central control device 9-1 fails, the operating state of the actuator 3-8 can be monitored instead by the control device 8-7 by evaluating the sensor signals of the sensor assembly 11-7, for example by lateral acceleration values, steering angles, displacement paths of the rack / steering rod of the steering device and / or the rotation angle of the shaft of the actuator 3-6, and if a corresponding steering presetting is recognized by the operating state, the actuator 3-7 is controlled accordingly in order to support the actuator 3-8.

[0045] For example, if the actuators 3-1 to 3-4 are each associated with a device 10-1 to 10-4 designed as a wheel brake system, then a complete failure of one of the central control devices 9-1 or 9-2 can also be detected. For example, if the central control device 9-1 now completely fails, the brake presetting can no longer be forwarded by the central control device 9-1 to the control devices 8-1 and 8-2 and thus to the actuators 3-1 and 3-2 of the front axle 4.

[0046] By means of the method according to the invention, the control devices 8-1 and 8-2 instead evaluate the sensor signals of the sensor components 11-3 and / or 11-4 assigned to the rear axle 5 and / or the sensor components 11-1 and / or 11-2 assigned to the front axle 4 in order to directly and / or indirectly detect the operating state of the actuators 3-3 and 3-4 arranged on the rear axle 5 and, for example, support these actuators with a constant or deceleration-related braking force to meet the braking preset. Thus, a degradation of the braking system (especially a lower braking effect) is completely prevented. For example, as described above, the wheel speed of at least one of the wheels 6-1 to 6-4 is detected by the corresponding sensor components 11-1 to 11-4. In particular, when the wheel speed of any of the wheels 6-1 to 6-4 decreases, the activation of at least one of the actuators 3-3 and 3-4 is detected.

[0047] Alternatively, the braking force is reduced to a predefined value, wherein the overall possible braking effect is still greater than the braking effect in the event of a complete failure of the corresponding actuator. If the motor vehicle 1 has an all-wheel drive and the corresponding actuators 3-1 to 3-4 are each assigned to a drive device, the same procedure is possible, so that here too, the acceleration predefined value can be safely met.

[0048] These application cases should be used merely as examples to illustrate the advantages of the method according to the invention. Figure 1 It is obvious from the complexity of the exemplary embodiment shown that any other desired control and monitoring methods are possible or are implemented.

[0049] After a predefined time period, the control of the corresponding actuator 3-1 to 3-8 is at least partially canceled, in particular interrupted, and the method continues with step S4. In step S4, a decision is made whether and how the control should be continued based on the sensor signals determined after the cancellation or interruption, in particular by comparing the sensor signals before the start of the control and after the cancellation or interruption of the control.

[0050] As an alternative to cancelling or interrupting the actuation, the sensor signal is continuously detected and, in step S4 , initially compared with the sensor signal present before the start of the actuation without changing the actuation.

[0051] If it is decided to maintain or continue the actuation, the method jumps back to step S3 , wherein in particular the actuation strategy is adapted as a function of the sensor signals, for example in order to actuate the corresponding devices more or less strongly in order to meet the above-mentioned specifications regarding the brakes, drive and / or steering.

[0052] If it is decided to end or no longer record the actuation, because, for example, the sensor signals indicate that the above-mentioned presettings with regard to the brakes, the drive and / or the steering are fulfilled, the method ends with step S5 .

Claims

1. A method for operating an actuator assembly (2), in particular an actuator assembly for a motor vehicle (1), wherein: The actuator assembly (2) has at least two controllable actuators (3-1 to 3-8) and an actuation system (7), wherein the actuation system has at least two control devices (8-1 to 8-8) respectively assigned to one of the actuators (3-1 to 3-8) and central control devices (9-1, 9-2) respectively connected to the control devices (8-1 to 8-8) by means of communication technology via a communication connection, and wherein the control devices (8-1 to 8-8) are controlled by the central control device (9-1, 9-2) in a fault-free normal operating mode of the actuator assembly (2) for controlling the corresponding actuators (3-1 to 3-8), characterized in that - monitoring the control system (7) for any malfunctions, - monitor the operating status of the corresponding actuators (3-1 to 3-8), and -When a fault of the control system (7) related to one of the actuators (3-1 to 3-8) is detected, the relevant actuator (3-1 to 3-8) is controlled directly by the control device (8-1 to 8-8) assigned to it and according to the operating state of the other actuators (3-1 to 3-8) detected by monitoring.

2. The method according to claim 1, characterized in that The actuators (3-1 to 3-8) are assigned to or are respectively assigned to controllable devices (10-1 to 10-7), in particular wheel brake devices, drive devices and / or steering devices for at least one wheel or axle of the motor vehicle (1), and when the actuators (3-1 to 3-8) are controlled by the control device (8-1 to 8-8), the corresponding devices (10-1 to 10-7) are controlled.

3. The method according to any one of the preceding claims, characterized in that The actuators (3-1 to 3-8) are designed as electromechanical actuators and each have an electric motor, and the operating state of the actuators (3-1 to 3-8) is monitored by current sensors and / or rotor position sensors assigned to the respective machines.

4. The method according to any one of the preceding claims, characterized in that The operating state of the actuators (3-1 to 3-8) is monitored by acceleration sensors and / or acoustic sensors assigned to the corresponding actuators (3-1 to 3-8).

5. The method according to any one of the preceding claims, characterized in that The operating state of the actuators (3-1 to 3-8) is monitored by wheel speed sensors, steering angle sensors, position sensors of the rack of the steering gear and / or contact force sensors of the wheels (6-1 to 6-4) of the motor vehicle (1) and the corresponding actuators (3-1 to 3-8), and / or the operating state is monitored based on the driving force, driving torque, braking force and / or braking torque acting on the wheels (6-1 to 6-4).

6. The method according to any one of the preceding claims, characterized in that When a fault is identified, the corresponding control device (8-1 to 8-8) switches from the normal operating mode to the fault operating mode, and in the fault operating mode, the sensor signal of the sensor assigned to the actuator (3-1 to 3-8) is monitored to identify whether at least one other actuator of the actuator (3-1 to 3-8) of the actuator assembly (2) is controlled based on the sensor signal.

7. The method according to claim 6, characterized in that When the actuation of at least one other actuator (3-1 to 3-8) is detected, the actuator (3-1 to 3-8) associated with the fault of the actuation system (7) is actuated by the control device (8-1 to 8-8) assigned thereto to support the other actuator (3-1 to 3-8).

8. The method according to claim 7, characterized in that The control of the actuators (3-1 to 3-8) is interrupted after a predetermined period of time and a decision is made based on sensor signals detected after the interruption whether and how the control should be continued, in particular by comparing sensor signals before the start of the control and after the interruption of the control.

9. The method according to claim 7, characterized in that: The actuators (3-1 to 3-8) are actuated without interruption and a decision is made as a function of continuously ascertained sensor signals, in particular by comparing sensor signals before the start of the actuation and during the actuation, whether and how the actuation should continue.

10. The method according to any one of claims 6 to 9, characterized in that If a fault is detected and at least one other actuator (3-1 to 3-8) is actuated, the other actuator (3-1 to 3-8) is actuated more strongly at least for a predefined period of time.

11. The method according to any one of claims 6 to 10, characterized in that In the fault operating mode, a fault message is output, in particular, on a display device.

12. An actuator assembly (2), in particular an actuator assembly for a motor vehicle (1), wherein: The actuator assembly (2) has at least two controllable actuators (3-1 to 3-8) and a control system (7), the control system having at least two control devices (8-1 to 8-8) respectively assigned to one of the actuators (3-1 to 3-8) and a central control device (9-1, 9-2) respectively connected to the control devices (8-1 to 8-8) via communication connections using communication technology, characterized in that at least one of the control devices (8-1 to 8-8) is specially designed to execute the method according to any of the preceding claims.

13. A motor vehicle (1), characterized in that At least one actuator assembly (2) according to claim 12 is provided.

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