Vehicle and method for operating a vehicle

Abstract

The invention relates to a vehicle (10), in particular a motor vehicle, comprising: at least one steerable axle (12) which provides an expanded wheel steering angle adjustment range, in particular with a maximum wheel steering angle exceeding 40 DEG; a steering system (14) in operative connection with the steerable axle (12) for providing steering functionality; a brake system (16) for providing brake functionality; and an electrical and / or electronic brake function unit (18), the brake function unit (18) comprising at least one brake control function (20) which is designed to at least partially limit the brake function during steering of the vehicle (10) in which the vehicle speed is less than a limit speed, and wherein the brake function unit (18) comprises at least one brake control function (20) which is designed to at least partially limit the brake function during steering of the vehicle (10) in which the vehicle speed is less than the limit speed. The brake function unit (18) comprises at least one activation function (22) which is designed to activate the brake control function (20) only if a limit wheel steering angle is exceeded.

Description

Technical Field

[0001] The present invention relates to a vehicle according to claim 1 and a method for operating the vehicle according to claim 8. Background Technology

[0002] Vehicles are known from the prior art, including a steerable axle, a steering system for steering the vehicle, and a braking system for braking the vehicle. The steering system, electrically supported by an electric motor as a drive source, must be designed to enable all driving operations occurring during vehicle operation. For driving operations occurring during normal vehicle operation, relatively small steering torque is required from the steering system, especially from the electric motor, to achieve wheel deflection. Conversely, very high steering torque is required, especially at low speeds or when steering while the vehicle is stationary; thus, these driving operations mark the main design considerations for the steering system. Steering while the vehicle is stationary can also be achieved without operating the braking system or by operating the braking system, wherein, when braking torque is applied to the steerable axle, the steering torque to be applied to steer the vehicle wheels is further increased. For example, see DE 10 2018 211 897 A1 in this regard.

[0003] Furthermore, vehicles with an expanded range of wheel steering angle adjustment are known, where the maximum achievable wheel steering angle exceeds 40°, for example, between -90° and +90°. These vehicles are mostly equipped with steer-by-wire systems. In particular, single-wheel adjusters allow for easy achievement of large wheel steering angles because the vehicle wheels are decoupled from each other, thus making it easier to maintain kinematic requirements compared to a central adjuster. See, for example, DE 10 2015 220 775 A1 in this regard.

[0004] Especially for vehicles with an expanded wheel steering angle adjustment range, the required steering torque for steering the vehicle wheels increases significantly. Here, the required steering torque can be further increased significantly from a wheel steering angle of approximately ±20°, and especially from a wheel steering angle of approximately ±40°.

[0005] Starting from this point, the object of the present invention is particularly to provide a vehicle and a method for operating the vehicle, the vehicle having an expanded range of wheel steering angle adjustment, and the vehicle having improved characteristics in terms of efficiency. This object is achieved by the features of claims 1 and 8, while advantageous designs and improvements of the invention can be obtained from the dependent claims. Summary of the Invention

[0006] A vehicle is proposed comprising: at least one steerable axle providing an expanded wheel steering angle adjustment range, particularly having a maximum wheel steering angle exceeding 40°; a steering system for providing steering functionality, effectively connected to the steerable axle; a braking system for providing braking functionality; and an electrical and / or electronic braking function unit, wherein the braking function unit includes at least one braking control function configured to at least partially limit the braking functionality during steering when the vehicle speed is less than a limit speed, and wherein the braking function unit includes at least one activation function configured to activate the braking control function only when a pre-applied limit wheel steering angle is exceeded. Thus, the limitation of braking functionality is achieved particularly when the limit wheel steering angle is exceeded. Furthermore, actuation of the braking system during steering can also be achieved, particularly in the form of manual and / or automatic braking intervention. The limit wheel steering angle is currently possible to be at least 20°. However, the limit wheel steering angle is preferably at least 40°. This design scheme particularly improves efficiency, such as performance efficiency, energy efficiency, construction space efficiency, weight efficiency, and / or cost efficiency. Specifically, it allows for a smaller steering system or steering actuator, advantageously reducing space requirements and / or the weight of the steering system. Preferably, braking functionality is not limited within the normal steering angle range, but rather activated only at higher wheel steering angles, allowing the limitation to be achieved with a correspondingly smaller steering actuator in an optimal force-bearing manner. Furthermore, tire wear is advantageously reduced and wear phenomena are minimized, thereby improving service life and / or durability. Additionally, energy absorption by the steering system is also reduced.

[0007] The vehicle is particularly configured as a motor vehicle, and advantageously as a passenger car or a commercial vehicle. Furthermore, the steerable axle is advantageously configured as the front axle of the vehicle. Additionally, the vehicle can include at least one additional axle that is advantageously rigid and / or non-steerable, at least one first sensor unit for detecting steering motion and / or steering information related to the steering motion, at least one second sensor unit for detecting the vehicle's speed, and / or at least one third sensor unit for detecting actuation of the braking system. The steering system is currently configured to provide a steering torque for steering the vehicle and transmit it to the steerable axle. For this purpose, the steering system includes at least one steering actuator, for example, in the form of an electric motor. Furthermore, the steering system can particularly be configured as a conventional steering system with a mechanical engagement structure, such as a servo steering device. However, the steering system is preferably configured as a steer-by-wire system, and therefore there is no direct mechanical connection between the steering handle and the steerable axle. In this case, the steering system can particularly include: at least one wheel steering angle adjuster configured as a central adjuster, particularly having at least one steering actuator, or preferably multiple wheel steering angle adjusters configured as single-wheel adjusters, each having at least one steering actuator. Furthermore, "wheel steering angle adjustment range" should be understood in particular as the maximum range within which the steering system's deflection and / or movement can be achieved, and thus the corresponding wheel steering angle of the vehicle wheels can be changed. Therefore, the maximum wheel steering angle adjustment range specifically corresponds to the maximum range of motion of the vehicle wheels, advantageously defined by fixed mechanical constraints on the vehicle. Furthermore, "expanded wheel steering angle adjustment range" should be understood in particular as a range larger than the conventional wheel steering angle adjustment range, and therefore particularly having a maximum wheel steering angle exceeding approximately 40°. Here, the expanded wheel steering angle adjustment range preferably provides, for example, a wheel steering angle between -60° and +60°, or particularly preferably between -90° and +90°.

[0008] Furthermore, the braking system is effectively connected to at least one steerable axle and / or another axle and is configured to provide braking torque for braking the vehicle. Specifically, the braking system is configured to apply braking torque to at least one axle during, for example, actuation by the driver, and during the resulting braking process. For this purpose, the braking system includes at least one service brake, for example configured as a disc brake and / or a drum brake, and / or at least one parking brake, particularly mechanically and / or electrically constructed. Furthermore, the "braking function unit" should be understood in particular as a unit effectively connected to the steering system, the braking system, and / or a sensor unit, configured to acquire the vehicle speed, the steering process induced by the steering system, and / or the manipulation of the braking system, thereby at least partially limiting the braking functionality of the braking system. Therefore, the braking function unit includes at least one braking control function, preferably in the form of a corresponding braking control algorithm. Furthermore, the braking function unit currently includes at least one activation function, preferably in the form of a corresponding activation algorithm, which is effectively connected to the braking control function. This activation function is configured to monitor the wheel steering angle of the vehicle wheels and, when the wheel steering angle exceeds a limit, to manipulate and thereby activate the braking control function to initiate and / or cause a limitation on braking functionality. Furthermore, the braking function unit is preferably integrated into the vehicle's controller, such as a central vehicle controller, or the steering system controller, particularly the steering controller. The braking function unit or braking control function being configured to "at least partially limit braking functionality" should be understood in particular as manipulating the braking system such that at least one braking function associated with the braking functionality of the braking system is limited, advantageously so that the braking function is only available for limited use or not implemented and / or cannot be implemented. "Configured" should be understood in particular as specifically programmed, designed, and / or equipped. "Object configured for a defined function" should be understood in particular as the object satisfying and / or implementing the defined function in at least one usage state and / or operating state.

[0009] Furthermore, it is proposed that the braking function unit includes at least one deactivation function, preferably in the form of a corresponding deactivation algorithm, configured to deactivate the braking control function and / or remove restrictions on braking functionality when the wheel steering angle is below the limit wheel steering angle. In particular, the activation function and the deactivation function can also be implemented within the same function. This advantageously ensures that the braking control function is activated only when the wheel steering angle is greater than the limit wheel steering angle and otherwise deactivated.

[0010] Furthermore, it is proposed that the braking system includes multiple individually actuable wheel brakes, for example, in the form of distributed electromechanical service brakes, and that the braking function unit, especially the braking control function, is configured to limit braking functionality during steering in such a way that the braking torque acting on the steerable axle is reduced. In this case, for example, the braking torque at both steerable vehicle wheels can be reduced, or only the braking torque at the outer wheel of the curve can be reduced. However, it is preferred to reduce at least one braking torque at the inner wheel of the curve, and especially only at least one braking torque at the inner wheel of the curve. In this case, the braking function unit, especially the braking control function, is configured to limit braking functionality during steering in such a way that the braking torque acting on the steerable axle is at least reduced. This, in particular, can reduce the braking torque acting on the steerable axle and simultaneously achieve a favorable braking effect.

[0011] If a vehicle has at least one additional axle, particularly the previously mentioned additional axle, wherein the braking system is configured to act only on said additional axle for braking the vehicle during steering, then braking of the vehicle can be achieved, especially in operating conditions where braking is mandatory, such as when stopped on a slope, without transmitting braking torque to the steerable axle. In this case, the braking function unit, particularly the braking control function, is configured to limit braking functionality during steering in such a way that braking of the steerable axle is prevented by means of the braking system.

[0012] According to another design proposal, the vehicle includes a vehicle sensing device for detecting vehicle tilt and / or road tilt. This vehicle sensing device is, for example, in the form of an inertial sensor. The braking function unit, particularly the braking control function, is configured to take into account vehicle tilt and / or road tilt when limiting braking functionality. Furthermore, it is particularly preferred that the braking function unit, particularly the braking control function, is configured to individually adjust the braking torque at each vehicle wheel according to the vehicle tilt and / or road tilt, specifically adjusting it so that each vehicle wheel brakes to exactly the degree that the vehicle remains stationary. As an additional option, vehicle type or category can also be considered in this case. For example, the braking torque can be ideally set in a wheel-individualized manner according to the vehicle type or category and the inclination or slope, specifically setting it so that each vehicle wheel brakes to exactly the degree that the vehicle remains stationary. This results in particularly high efficiency.

[0013] Furthermore, it is proposed that the vehicle include an environmental sensing device for detecting the vehicle's environment, wherein the braking function unit, particularly the braking control function, is configured to take into account surrounding environmental objects, such as other vehicles, people, and / or obstacles, when limiting braking functionality, and to change the braking torque at each vehicle wheel according to these surrounding environmental objects. In this respect, the braking torque can be changed in such a way that less vehicle movement can be achieved. Alternatively or additionally, the braking torque can be increased, for example, to avoid undesirable rolling and thus contact with surrounding environmental objects in the vehicle environment. This, in particular, can further improve operational safety.

[0014] Furthermore, a method for operating a vehicle, particularly the aforementioned vehicle, is proposed, wherein the vehicle comprises: at least one steerable axle having an expanded wheel steering angle adjustment range, particularly having a maximum wheel steering angle exceeding 40°; a steering system for providing steering functionality, the steering system being effectively connected to the steerable axle; and a braking system for providing braking functionality, wherein during steering when the vehicle speed is below a limit speed, the braking functionality is at least partially limited by means of a braking control function, particularly a braking function unit, and wherein the braking control function is activated only when the limit wheel steering angle is exceeded, particularly by means of an activation function of the braking function unit. This particularly enables the realization of the advantages already mentioned. In particular, at least one efficiency can be improved here, such as performance efficiency, energy efficiency, construction space efficiency, weight efficiency, and / or cost efficiency.

[0015] The vehicle and the method for operating the vehicle are not limited to the usage and implementation described above. In particular, in order to fulfill the functional modes described herein, the vehicle and the method for operating the vehicle may have a different number of individual elements, components and units than those mentioned herein. Attached Figure Description

[0016] Further advantages are illustrated in the following figures. The figures show embodiments of the invention. Wherein: Figure 1 The schematic diagram illustrates an exemplary configuration of a passenger car, which includes a steerable axle, a steering system, and a braking system. Figure 2 The steering system is shown in detail in the diagram, and Figure 3 An exemplary flowchart is shown, which has the main method steps for a method of operating a vehicle. Detailed Implementation

[0017] Figure 1A simplified schematic diagram illustrates an exemplary passenger vehicle 10 having multiple vehicle wheels 28, 30. The vehicle 10 is multi-axle configured and, in this case, has a first axle 12 and a second axle 32. The first axle 12 is configured as the front axle of the vehicle 10 and has connections to the vehicle wheels 28, 30 configured as front wheels. The first axle 12 is configured in a steerable manner. Furthermore, the first axle 12 currently provides an expanded wheel steering angle adjustment range, having a maximum wheel steering angle exceeding 40°. The second axle 32 is configured as the rear axle of the vehicle 10 and has connections to vehicle wheels (not shown) configured as rear wheels. The second axle 32 is further configured as a rigid axle and / or a non-steerable axle. However, the vehicle can also alternatively be configured as a commercial vehicle. Furthermore, the axle configured as a rear axle can be configured in a steerable manner, while the axle configured as a front axle can be configured rigidly and / or non-steerable. It is also conceivable, in principle, that the axles configured as front and rear axles can be configured in a steerable manner. In addition, the vehicle can also be configured as a three-axle vehicle with at least three axles or as a four-axle vehicle with at least four axles, wherein, in particular, at least one of the axles is configured to be steerable.

[0018] Vehicle 10 includes steering system 14 (see in particular) Figure 2 The steering system 14 is associated with the first axle 12 and therefore has an effective connection with the vehicle wheels 28, 30, which are configured as front wheels. The steering system 14 is configured to provide steering functionality for steering the vehicle 10 and / or for influencing the direction of travel of the vehicle 10. Furthermore, the steering system 14 is currently configured as a steer-by-wire system, wherein at least one steering preset electrical transmission in operation is provided to the vehicle wheels 28, 30. However, it is also conceivable in principle that the steering system is associated with the second axle. Furthermore, it is conceivable that the steering system is configured with a conventional servo steering device.

[0019] The steering system 14 has a known control unit 38. The control unit 38 includes, for example, a steering handle 40 in the form of a steering wheel, and a feedback actuator 42, particularly mechanically coupled to the steering handle 40, for generating steering resistance and / or return torque to the steering handle 40. Alternatively, the steering handle can also be configured as a lever, steering column, and / or steering ball, or something similar. Furthermore, the feedback actuator can be omitted in principle. Moreover, it is conceivable to completely omit the control unit.

[0020] Furthermore, the steering system 14 has at least one wheel steering angle adjuster 44, 46. In the present case, the steering system 14 exemplarily includes two wheel steering angle adjusters 44, 46 configured as single-wheel adjusters, and therefore particularly includes wheel-individualized steering mechanisms. The wheel steering angle adjusters 44, 46 are associated with the first axle 12. The wheel steering angle adjusters 44, 46 are configured separately from each other and, in the present case, are not mechanically connected. The wheel steering angle adjusters 44, 46 can be operated independently of each other. Here, the wheel steering angle adjusters 44, 46 can be configured as translational or rotational single-wheel adjusters. Furthermore, the wheel steering angle adjusters 44, 46 are electrically connected to the operating unit 38 and therefore to the steering handle 40. Each of the wheel steering angle adjusters 44, 46 has an effective connection with exactly one of the vehicle wheels 28, 30, particularly the front wheel. Wheel steering angle adjusters 44 and 46 are configured to change the corresponding wheel steering angle of the respective vehicle wheels 28 and 30 according to a steering preset, currently for example, within a wheel steering angle adjustment range between -90° and +90°. For this purpose, each wheel steering angle adjuster 44 and 46 includes a steering adjustment element 48 and 50, exemplarily configured as a rack, and a steering actuator 52 and 54, configured as an electric motor, acting in conjunction with the steering adjustment element 48 and 50. The steering system can, in principle, also include a wheel steering angle adjuster configured as a central adjuster. Furthermore, the steering system can also include at least four wheel steering angle adjusters configured as single-wheel adjusters, wherein each vehicle wheel is equipped with a wheel steering angle adjuster. In principle, the steering system can also include a combination of wheel steering angle adjusters configured as single-wheel adjusters and wheel steering angle adjusters configured as central adjusters. Additionally, vehicle wheels configured as rear wheels can also be equipped with at least one wheel steering angle adjuster.

[0021] Furthermore, vehicle 10 includes a braking system 16. Braking system 16 is associated with a first axle 12 and a second axle 32, and thus has effective connection with vehicle wheels 28, 30 configured as front wheels and rear wheels, respectively. Braking system 16 is configured to provide braking functionality for braking vehicle 10. In the present case, braking system 16 is configured to transmit braking torque to the first axle 12 and / or the second axle 32, for example, when operated by a driver and during the resulting braking process. However, it is also conceivable in principle that either the first axle or the second axle may be equipped with a braking system.

[0022] The braking system 16 includes at least one wheel brake 26, particularly configured as a service brake. In the present case, the braking system 16 exemplary includes four individually actuable wheel brakes 26, wherein each vehicle wheel 28, 30 is equipped with one of the wheel brakes 26. Two first wheel brakes 26 are thus assigned to the vehicle wheels 28, 30 configured as front wheels and are configured to act on the first axle 12 for braking the vehicle 10. Two second wheel brakes 26 are assigned to the vehicle wheels configured as rear wheels and are configured to act on the second axle 32 for braking the vehicle 10. Furthermore, the wheel brakes 26 are exemplary configured as distributed electromechanical wheel brakes. Alternatively, the braking system may also have exactly two wheel brakes, wherein the first wheel brake, for example, may be assigned to the first axle, and the second wheel brake, for example, may be assigned to the second axle. In particular, a central brake may also be arranged at the rear axle. Furthermore, the braking system may be assigned to only the first axle or the second axle. In addition, the braking system may include additional braking units, for example, in the form of a parking brake.

[0023] Furthermore, vehicle 10 can include multiple sensor units. Current vehicle 10 includes, for example, a first sensor unit (not shown) for detecting steering information related to steering movements, a second sensor unit (not shown) for detecting vehicle speed, a third sensor unit (not shown) for detecting actuation of braking system 16, a vehicle sensing device 34 for detecting vehicle tilt and / or road tilt, and an environmental sensing device 36 for detecting the vehicle environment. However, it is also conceivable in principle to omit the first sensor unit, second sensor unit, third sensor unit, vehicle sensing device, and / or environmental sensing device.

[0024] Furthermore, vehicle 10 has a controller 56. Controller 56 is exemplarily configured as a steering controller in the present case. However, in principle, the controller can also be configured as any controller of the vehicle different from the steering controller, such as a brake controller or a central vehicle controller. Controller 56 has an electrical connection to steering system 14. Controller 56 also has an electrical connection to braking system 16. Furthermore, controller 56 has electrical connections to sensor units, particularly to the first sensor unit, the second sensor unit, the third sensor unit, vehicle sensing device 34, and environmental sensing device 36. Controller 56 is configured to receive steering information, vehicle speed, and actuation of braking system 16 from the respective sensor units. Furthermore, controller 56 is configured in the present case to receive vehicle tilt and / or road tilt from vehicle sensing device 34 and to receive detection signals related to the vehicle environment from environmental sensing device 36. Furthermore, controller 56 is at least configured to operate braking system 16, particularly based on steering information, vehicle speed, and / or actuation of braking system 16.

[0025] For this purpose, the controller 56 includes an electrical and / or electronic computing unit 58. The computing unit 58 includes at least one processor (not shown), for example in the form of a microprocessor, and at least one memory (not shown). In addition, the computing unit 58 includes at least one running program stored in the memory, which has at least one calculation routine, at least one control routine, and at least one braking routine.

[0026] The controller 56 further includes a braking function unit 18. The braking function unit 18 is communicatively connected to the computing unit 58. The braking function unit 18 also has a valid connection to a sensor unit and is configured to receive and process steering information, vehicle speed, braking system 16 operation, vehicle tilt and / or road tilt, and detection signals related to the vehicle environment. The braking function unit 18 is constructed as an additional electrical and / or electronic computing unit. The braking function unit 18 thus includes at least one additional processor (not shown), for example, in the form of a microprocessor, and at least one additional memory (not shown). Furthermore, the braking function unit 18 currently includes a braking control function 20, an activation function 22, and a deactivation function 24. However, the controller can also, in principle, include only one computing unit, in which case the braking function unit can be integrated into a separate computing unit of the controller. Furthermore, the braking function unit can also be constructed separately from the vehicle's controller. It is also conceivable that the deactivation function be omitted or implemented within the activation function.

[0027] For driving operations occurring during normal operation of vehicle 10, i.e. at higher vehicle speeds, relatively low steering torque is required from steering system 14, and especially from steering actuators 52, 54, to achieve deflection of vehicle wheels 28, 30. For this reason, controller 56 and, in particular, computing unit 58 are configured to operate braking system 16 during normal operation, especially when vehicle speed exceeds the limit speed and is independent of steering movements, such that when braking system 16 is operated, all wheel brakes 26 are actuated or can be actuated, and thus braking torque is applied or can be applied not only to the first axle 12 but also to the second axle 32.

[0028] Conversely, very high steering torque is required, especially at low speeds or when steering while the vehicle 10 is stationary. For this reason, brake control function 20 is configured to limit the braking functionality of braking system 16 during steering when the vehicle speed of 10 is below the limit speed. Simultaneously, activation function 22 is currently configured to monitor the wheel steering angles of the vehicle wheels 28 and 30 and activate the brake control function only when the limit wheel steering angle is exceeded. Therefore, braking functionality is limited only when the limit wheel steering angle, for example, is exceeded (e.g., 40°). This leads to the fact that the requirements for the adjustable steering torque used to steer the vehicle wheels 28 and 30 are significantly increased, specifically for the vehicle 10 with its expanded wheel steering angle adjustment range. However, the limit wheel steering angle can also be at least 20° or at least 30° in principle. In this respect, the steering angle range in which the function according to the invention is activated can be selected based on the axle response and has been activated, for example, from about 20° or from about 30°. Currently, the limitation on braking functionality is therefore not within the normal steering angle range, but rather activated only at higher wheel steering angles, so that this can be achieved in a force-optimal manner with correspondingly smaller steering actuators 52, 54.

[0029] Furthermore, the deactivation function 24 is configured to deactivate the braking control function 20 when the wheel steering angle is below the limit, thereby removing the restriction on braking functionality. This ensures that the braking control function is activated only when the wheel steering angle is greater than the limit wheel steering angle and deactivated otherwise. Therefore, normal braking of all vehicle wheels 28 and 30 is allowed when the wheel steering angle is less than the limit.

[0030] Furthermore, the braking function unit 18 and, in particular, the braking control function 20 are configured to limit braking functionality during steering in such a way that the braking torque acting on the steerable axle 12 is reduced, especially the braking torque at the inner wheels 28 and 30 of the curve, where a greater steering torque is required. Alternatively, the braking torque at the outer wheels of the curve can also be reduced. The core of the invention lies in utilizing the following feasible solution: triggering the individually electronically controlled wheel brakes 26 as needed to prevent the vehicle 10 from rolling. However, a higher wheel steering angle should be achieved with a lower steering torque at the same time.

[0031] Furthermore, it can also reduce the braking torque at the two steerable vehicle wheels 28 and 30. In this case, the braking system 16 is configured to act only on the other axle 32 to brake the vehicle 10 during steering. Therefore, the braking function unit 18 and the braking control function 20 are configured to limit the braking functionality during steering, thereby preventing braking of the first steerable axle 12 during steering. Thus, braking of the vehicle 10 can be achieved in operating conditions where braking is required, such as when stopped on a slope, without transmitting braking torque to the first axle 12.

[0032] According to another aspect, the braking function unit 18 and, in particular, the braking control function 20 can be configured to take into account the vehicle tilt and / or road tilt transmitted by the vehicle sensor 34 when limiting braking functionality. In this case, the braking function unit 18 and, in particular, the braking control function 20 can be configured, for example, to change the braking torque at each vehicle wheel 28, 30 in a wheel-individualized manner according to the vehicle tilt and / or road tilt, more precisely, to change it so that each vehicle wheel 28, 30 brakes to exactly such an extent that the vehicle 10 does not move. As an additional option, the vehicle type or class of vehicles can also be taken into account in this case. Thus, the braking torque can be ideally set in a wheel-individualized manner according to the vehicle type or class of vehicles and the tilt or slope. However, it is also conceivable in principle to omit this consideration of vehicle tilt and / or road tilt.

[0033] Furthermore, the braking function unit 18 and, in particular, the braking control function 20, can be configured to take into account surrounding environmental objects in the vehicle environment, such as other vehicles, people, and / or obstacles, as transmitted by the environmental sensor 36, when limiting braking functionality, and to change the braking torque at each vehicle wheel according to the surrounding environmental objects. In this case, for example, the braking torque can be changed in such a way that minute vehicle movements are possible. As an alternative or additional solution, the braking torque can be increased, for example, to avoid undesirable rolling and thus avoid contact with surrounding environmental objects in the vehicle environment.

[0034] Figure 3 Finally, an exemplary flowchart is shown, which has the main method steps for operating vehicle 10.

[0035] In step 60 of the method, the operation of vehicle 10 is started.

[0036] In method step 62, it is checked whether steering motion is achieved, for example, by the driver.

[0037] If steering motion is detected, then in method step 64, it is checked whether the vehicle speed of vehicle 10 is less than the limit speed.

[0038] If the vehicle speed of vehicle 10 is less than the limit speed, then in method step 66, the current wheel steering angle is obtained by means of activation function 22 and compared with the limit wheel steering angle.

[0039] If the current wheel steering angle exceeds the limit wheel steering angle, then in method step 68, in particular, the braking control function 20 is activated by means of the activation function 22, and the braking functionality is at least partially limited by means of the braking control function 20.

[0040] If any of the conditions in steps 62, 64, and 66 are not met, for example, because no steering motion is detected, if the vehicle speed of vehicle 10 is greater than the limit speed, and / or if the current wheel steering angle is less than the limit wheel steering angle, then the method terminates in step 70 and restarts. Therefore, the braking functionality of the braking system 16 is not limited in this case.

[0041] Figure 3 The exemplary flowcharts herein should, in particular, only exemplarily describe the methods for operating vehicle 10. Specifically, the individual method steps and / or the order of the method steps can be changed. It is particularly conceivable that actuation of the braking system 16 can be additionally detected, and that braking functionality is limited only when actual actuation of the braking system 16 is achieved. Furthermore, a central brake can be arranged, particularly at the rear axle, thereby further reducing steering torque, as a certain rotation of vehicle 10 about its vertical axis can be achieved. It is also conceivable that vehicle tilt and / or road tilt and / or surrounding environmental objects in the vehicle environment are taken into account when limiting braking functionality.

Claims

1. A vehicle (10), particularly a motor vehicle, said vehicle having: At least one steerable axle (12) provides an expanded wheel steering angle adjustment range, particularly with a maximum wheel steering angle exceeding 40°; A steering system (14) for providing steering functionality is in effective connection with a steering axle (12); Braking systems (16) used to provide braking functionality, and An electrical and / or electronic braking function unit (18), wherein, The braking function unit (18) includes at least one braking control function (20) configured to at least partially limit the braking functionality during a turn of the vehicle (10) when the vehicle speed is less than the limit speed, and wherein the braking function unit (18) includes at least one activation function (22) configured to activate the braking control function (20) only when the limit wheel steering angle is exceeded.

2. The vehicle (10) according to claim 1, characterized in that, The maximum wheel steering angle is at least 40°.

3. The vehicle (10) according to claim 1 or 2, characterized in that, The braking function unit (18) includes at least one deactivation function (24) configured to deactivate the braking control function (20) and / or remove the restriction on the braking functionality when the wheel steering angle is below the limit.

4. The vehicle (10) according to any one of the preceding claims, characterized in that, The braking system (16) includes a plurality of individually actuable wheel brakes (26), and the braking function unit (18) is configured to limit the braking functionality during steering such that the braking torque acting on the steerable axle (12) is reduced, wherein at least one braking torque is reduced at the vehicle wheels (28, 30) on the inside of the curve.

5. The vehicle (10) according to any one of the preceding claims, characterized in that... At least one additional axle (32), wherein the braking system (16) is configured to act only on the additional axle (32) during steering to brake the vehicle (10).

6. The vehicle (10) according to any one of the preceding claims, characterized in that... A vehicle sensing device (34) for detecting vehicle tilt and / or road tilt, wherein the braking function unit (18) is configured to take into account the vehicle tilt and / or road tilt when limiting the braking functionality, and to change the braking torque at each vehicle wheel (28, 30) in a wheel-individualized manner according to the vehicle tilt and / or road tilt, in particular changing such that each vehicle wheel (28, 30) is braked to just such an extent that the vehicle (10) does not move.

7. The vehicle (10) according to any one of the preceding claims, characterized in that... An environmental sensing device (36) for detecting the vehicle environment, wherein the braking function unit (18) is configured to take into account surrounding environmental objects in the vehicle environment when limiting the braking functionality and to change the braking torque at each vehicle wheel (28, 30) according to the surrounding environmental objects.

8. A method for operating a vehicle (10), particularly according to any one of the preceding claims, wherein, The vehicle (10) includes: At least one steerable axle (12) having an expanded wheel steering angle adjustment range, particularly having a maximum wheel steering angle of more than 40°; A steering system (14) for providing steering functionality, the steering system being effectively connected to a steerable axle (12); and A braking system (16) for providing braking functionality, wherein during a turn in which the vehicle speed of the vehicle (10) is less than the limit speed, the braking functionality is at least partially limited by means of a braking control function (20), and wherein the braking control function (20) is activated only when the limit wheel steering angle is exceeded.

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