Method for operating an actuator assembly, actuator assembly, motor vehicle

Abstract

The invention relates to a method for operating an actuator assembly (3), in particular of a motor vehicle (1), wherein the actuator assembly (3) has at least two actuators (8, 9), at least one of which is designed to actuate a wheel brake device (10), a steering device (20) and / or a drive device (21) of the motor vehicle (1), and a control system (15) having at least two control devices (11, 12) each assigned to one of the actuators (8, 9) and two central control units (6) each connected to the control devices (11, 12) via a communication connection in terms of communication technology, and wherein the control devices (11, 12) are each controlled by means of one of the central control units (6) for controlling the respective actuator (8, 9). It is provided that the control devices (11, 12) are connected to one another directly in terms of communication technology via the communication connection, the control system (15) is monitored for the occurrence of a fault, and when a fault of the control system (15) involving one of the control devices (11, 12) is identified, the control signals generated by one of the central control units (6) for the control device (11, 12) involved are transmitted via the communication connection between the control devices (11, 12).

Description

Technical Field

[0001] The present invention relates to a method for operating an actuator assembly, particularly an actuator assembly of a motor vehicle, wherein the actuator assembly has at least two actuators, wherein at least one actuator is configured to operate wheel braking devices, steering devices and / or drive devices of the motor vehicle; and a control system having at least two control devices respectively associated with one of the actuators and two central control units respectively connected to the control devices via a communication connection in a communication technology, wherein the control devices are respectively controlled by one of the central control units for operating the respective actuator.

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

[0003] Methods of the above type are known in the prior art. For example, actuator assemblies for braking systems of motor vehicles are known, wherein at least one actuator configured as a service brake actuator, particularly an electromechanical service brake actuator, is respectively assigned to one of the four wheels of the motor vehicle, and wherein at least two wheels of the same axle of the motor vehicle are respectively assigned additional parking brake actuators. Each actuator is assigned its own control device, which is typically operated by at least one central control unit located remotely from the actuator. In particular, two wheels of the motor vehicle are respectively assigned separate central control units, for example, axle-wise or cross-wise, and the central control unit is responsible for at least two actuators in this respect. The central control unit typically assumes the distribution of braking force throughout the vehicle by issuing corresponding commands to the control units assigned to the actuators. To improve the fail-safety of the actuator assembly, it is known to use redundant actuators to compensate for the failure of individual components and / or subsystems. Summary of the Invention

[0004] The method according to the invention, having the features of claim 1, is characterized in that the control devices are directly interconnected in communication technology via a communication connection, the operation system is monitored for the occurrence of faults, and when a fault in the operation system involving one of the control devices is identified, a control signal generated by one of the central control units for the involved control device is transmitted via the communication connection between the control devices. Advantageously, this ensures the continued operation of the actuator assembly in the event of a fault in the operation system, without any component being redundantly executed. In contrast, in the aforementioned actuator assembly, such a fault, without additional redundant components, results in the involved control device no longer being able to receive control signals from one of the control units because there is no alternative communication connection with one of the control devices. In this respect, the invention is based on the understanding that for such faults, a direct communication connection between the control devices, according to the invention, is particularly advantageous for transmitting control signals, i.e., as an alternative transmission path or for redirecting control signals. In particular, the communication connection is constructed as an SPI bus. If the control unit is fixedly assigned to the involved control device, then the control signal particularly originates from the control unit that is also responsible in the absence of a fault, and is redirected only via the communication connection between the control devices. Alternatively, if the control unit fails due to a malfunction, the control signal is preferably generated by another control unit and transmitted via a communication connection between the control devices. Therefore, regardless of the type of malfunction, it is ensured that the corresponding control device still receives the control signal and the corresponding actuator is manipulated / can be manipulated. In particular, one of the actuators is configured as a service brake actuator or parking brake actuator for operating wheel braking devices, configured as a steering actuator or drive actuator. Preferably, two actuators or corresponding two actuators, such as a service brake actuator and a parking brake actuator, are assigned to the same device, especially wheel braking devices and / or devices on the same wheels of the motor vehicle. Particularly preferably, at least four, especially exactly four, actuators are provided, such as two service brake actuators and two parking brake actuators, wherein, for example, one of the service brake actuators and one of the parking brake actuators are respectively assigned to one of two wheels on the same axle of the motor vehicle. Preferably, for each actuator, the control system has its own control device, thus assigning each actuator its own control device. In particular, at least one, and in particular all, of the control devices belonging to the same type of actuator, especially one of the service brake actuators, are controlled by a central control unit of a central control unit, and at least one, and in particular all, of the control devices belonging to other types of actuators, especially one of the parking brake actuators, are controlled by other central control units of a central control unit.Alternatively, the control devices of the same equipment, especially wheel braking devices, belonging to the motor vehicle are operated at least through the same central control unit. Particularly preferably, for each control device, the control system has its own central control unit, thus assigning each control device its own central control unit, through which the corresponding control device is operated. Preferably, the two central control units in the central control unit are directly interconnected via a communication connection. In particular, the control units connected to one or more control devices belonging to the same type of actuator, especially one of the service brake actuators, are directly connected to at least one other control unit, especially exactly one connected to one or more control devices belonging to other types of actuators, especially one of the parking brake actuators, wherein preferably, the corresponding control devices belong to the actuators of the same wheels of the motor vehicle. Particularly preferably, the actuator assembly according to the invention, especially such actuators, control units, and / or control devices, are provided for at least one axle of the motor vehicle, especially exactly one axle.

[0005] According to a preferred embodiment of the invention, in the normal operating mode of the actuator assembly, control signals are transmitted only via communication connections from one central control unit in the central control unit to one control device in the control unit, and from other central control units in the central control unit to other control devices in the control unit. Specifically, each central control unit is directly connected to only one of the two control devices via a communication connection. This transmission advantageously ensures that each control device is fixedly assigned to exactly one other central control unit in the central control unit, so that even if one central control unit in the central control unit completely fails, only one control device in the control unit is directly relevant, and the other control devices in the control unit alternatively receive control signals from the other control unit within the scope of the method according to the invention, the control signals being transmitted via direct communication connections between the control devices. This is particularly advantageous for stable operation when each central control unit is also directly connected to only one of the two control devices via communication connections. Preferably, in the normal operating mode of the actuator assembly, control signals are transmitted from the respective central control unit to the respective control device via at least two independent communication connections, wherein faults in the control system, particularly failures of communication connections, are identified by comparison of the control signals with the aid of the control devices. For example, control signals are transmitted to the control device not only through direct communication between the control unit and the control device, but also through communication connections between the control unit and other control devices within the control device, as well as between control devices themselves.

[0006] Particularly preferably, if the failure of one of the central control units is identified as a fault, then the control signals for the affected control devices are transmitted by the corresponding other central control units. This results in redundancy in the central control units generating control signals for each other.

[0007] According to a preferred embodiment of the invention, the control signal is generated by a corresponding other central control unit, transmitted to the uninvolved control device via a direct communication connection between the central control unit and the uninvolved control device, and transmitted from the uninvolved control device to the involved control device via a communication connection between control devices. This advantageously ensures that the control signal is transmitted without interference from the corresponding other central control unit within the central control unit to the involved control device, and that the actuator assembly continues to operate without failure.

[0008] Particularly preferably, if a failure of one of the communication connections between one of the central control units and one of the control devices is identified as a fault, then the control signal for the control device involved is transmitted by the corresponding other central control unit. This provides the advantage that if the control signal of the actually functioning control unit cannot be directly transmitted to the corresponding control device due to a failure of the direct communication connection, then redundancy is created in the central control units in generating control signals for each other.

[0009] According to a preferred embodiment of the invention, the control signal is generated by a corresponding other central control unit, transmitted from the other central control units in the central control unit to the unrelated control device via a communication connection between the central control unit and the unrelated control device, and transmitted from the unrelated control device to the related control device via a communication connection between control devices. This advantageously ensures that the control signals are transmitted without interference from the other central control units initially not assigned to the central control unit to the related control device, and that the actuator assembly continues to operate without failure.

[0010] Particularly preferably, the central control units are directly interconnected via communication connections, and if a failure of one of the communication connections between one of the central control units and one of the control devices is identified as a fault, then the control signals for the relevant control devices are transmitted via the communication connections between the central control units. This results in the advantage that the central control units can exchange control signals, and at least when the communication connection between only one of the central control units and one of the control devices fails, the other central control units in the central control unit do not need to generate control signals; instead, the control signals are efficiently redirected solely through the direct communication connection resources between the two control units.

[0011] According to a preferred embodiment of the invention, control signals are generated by a central control unit, transmitted via communication connections between central control units to other central control units within the central control unit, transmitted by other central control units within the central control unit to unrelated control devices via communication connections between the central control unit and unrelated control devices, and transmitted by unrelated control devices to related control devices via communication connections between control devices. This advantageously ensures that control signals are transmitted without interference from the initially assigned central control unit to the related control device, and that the actuator components continue to operate without failure.

[0012] Particularly preferably, the central control units are directly interconnected via communication connections. In normal operation, communication signals are transmitted between the central control units via these connections. If a failure in the communication connection between the central control units is detected, the communication signals are transmitted to the corresponding central control unit via the communication connection between the control devices. These communication signals include, in particular, preset deceleration, braking expectations, acceleration presets, steering presets, sensor signals and / or actuator components, braking system, drive system, steering system, and / or the system status of the vehicle, all set by the actuators. The resulting advantage is that even in the event of a failure in the direct communication connection between the central control units, the corresponding communication signals are exchanged, for example, as a coordination of control signals, and especially through clever redirection in addition to control signals.

[0013] According to a preferred embodiment of the invention, communication signals are generated by a corresponding central control unit within the central control unit, transmitted from the central control unit to the control unit via a communication connection between the central control unit and the control unit, transmitted from the control unit to other control units via communication connections between the control units, and transmitted from the other control units to other central control units via communication connections between the other control units and other central control units. This advantageously ensures that communication signals are exchanged without interference, bypassing malfunctioning direct communication connections between central control units, and that the actuator components continue to operate without failure.

[0014] Particularly preferably, when a fault is identified, a fault message is output, especially on a display device. Outputting a fault message provides the advantage of safely communicating the fault so that it can be perceived, for example, by a driver of a motor vehicle.

[0015] An actuator assembly having the features of claim 12, particularly an actuator assembly for a motor vehicle, has at least two actuators, wherein at least one actuator is configured to operate the wheel braking device, steering device, and / or drive device of the motor vehicle; and a control system having at least two control devices respectively associated with one of the actuators and two central control units respectively connected to the control devices via communication links in a communication technology. The actuator assembly is characterized in that the control devices and the central control units are specifically designed to perform the method according to the invention. This results in the advantages already mentioned. Preferably, the actuator assembly is part of the braking system, steering system, and / or drive system of the motor vehicle. The actuators of the actuator assembly are particularly associated with different devices of the motor vehicle, such as wheel braking devices, drive devices, and / or steering devices. For example, at least one actuator is configured as a brake actuator, particularly a service brake actuator and / or parking brake actuator, a steering actuator, and / or a drive actuator. In this respect, any combination is possible.

[0016] Particularly preferably, one actuator is configured as a service brake actuator of a motor vehicle's braking system, while the other actuators are configured as parking brake actuators, wherein, in particular, the parking brake actuator and the service brake actuator are associated with the same wheel braking device. In this configuration, the advantages of the actuator assembly according to the invention are particularly evident.

[0017] The motor vehicle having the features of claim 14 is characterized by a braking system according to the invention. This also produces the advantages already mentioned. Attached Figure Description

[0018] Further preferred features and combinations thereof can be derived from the preceding description and claims. The invention will then be described in detail with reference to the accompanying drawings. Therefore,

[0019] Figures 1A to 1C An embodiment of a motor vehicle with advantageous actuator components is shown.

[0020] Figure 2 A detailed view of the actuator components is shown, and

[0021] Figure 3 A method for running the executor component is shown. Detailed Implementation

[0022] Figure 1A A first embodiment of a motor vehicle 1 is shown. The motor vehicle 1 has an actuator assembly 3. Each wheel 4 of the motor vehicle 1 is equipped with a wheel brake device 5 of a braking system 2.

[0023] Figure 1B A second embodiment of motor vehicle 1 is shown, and Figure 1C A third embodiment of a motor vehicle is shown, wherein at least two devices selected from the wheel braking device 5 of the braking system 2, the steering device 16 of the steering system 17, and the drive device 18 of the drive system 19 are respectively assigned to at least one of the wheels 4 (currently the wheels 4 of the axle 7 of the motor vehicle 1). Any combination thereof is conceivable in this regard, namely wheel braking device 5 and steering device 16, wheel braking device 5 and drive device 18, and steering device 16 and drive device 18.

[0024] Each of the wheel braking device 5, braking device 16 and drive device 18 is connected in communication technology to one of the two central control units 6 (first and second embodiments) or three central control units (third embodiment) of the actuator assembly 3 via at least one communication connection, as shown by the corresponding lines.

[0025] As shown by the corresponding lines, the central control unit 6 is connected in signal technology to at least two other devices among the wheel braking device 5, the steering device 16 and / or the drive device 18, thereby creating two braking circuits that are communication technology separated from each other in the first embodiment.

[0026] Currently, the wheel braking devices 5 are only configured in an exemplary cross configuration, such that the braking circuits respectively include a wheel braking device 5 of one axle of the motor vehicle 7 assigned to one side of the motor vehicle 1 and a wheel braking device 5 of the other axle of the motor vehicle 1 assigned to the other side of the motor vehicle 1.

[0027] In the second embodiment, each central control unit 6 is communication-technically connected to different devices selected from the wheel braking device 5, steering device 16, and drive device 18 of two different wheels 4 belonging to the same axle 7, such as the wheel braking device 5 of the left wheel 4, and communication-technically connected to the steering device 16 or drive device 18 of the right wheel, and communication-technically connected only, by way of example, to other devices in the devices of other wheels 4 on the other axle 7. In this respect, the control unit 6 is configured as a cross-domain control unit, i.e., belonging to, for example, the braking system 2 and the steering system 17.

[0028] Alternatively, in the third embodiment, an additional third control unit 6 is provided, wherein each control unit 6 is specifically connected, in terms of signal technology, only to at least (currently exactly) two devices of the same type currently assigned to different wheels 4, namely wheel braking device 5, steering device 16, or drive device 18.

[0029] Additionally, as shown by the corresponding lines, the central control units 6 are also directly interconnected in terms of communication technology. Furthermore, in the first embodiment, as shown by the corresponding lines, each central control unit 6 is also additionally directly connected in terms of communication technology to other wheel braking devices in the same axle 7, such as the wheel braking device 5 of the rear axle.

[0030] Therefore, in the first embodiment, the two wheel braking devices 5 of the axle 7 are directly connected, at least in terms of communication technology, to the two central control units in the central control unit 6. In the second and third embodiments, the devices belonging to the same wheel 4 are directly connected in terms of communication technology. These additional direct communication technology connections allow the actuator assembly 3 to continue operating in the event of a failure, as described below.

[0031] Here, each of the wheel braking device 5, the steering device 16, and the drive device 18 has multiple components, which are exemplarily shown in the detailed view. Figure 2 The diagram shows the components. The interpretation of the corresponding components depends on the embodiment under consideration.

[0032] In the first embodiment, Figure 2 This is a detailed view of one of the wheel braking devices 5. Two actuators 8 and 9 are shown, one of which is configured as a service brake actuator 8 for operating the wheel braking device 10, especially the electromechanical wheel braking device, and the other is configured as a parking brake actuator 9. In this respect, actuators 8 and 9 are part of actuator assembly 3. As shown by dashed lines respectively, the parking brake actuator 9 is specifically configured to act on the service brake actuator 8 or directly on the wheel braking device 10, for example, to lock the service brake actuator.

[0033] In the second and third embodiments, Figure 2 These are two different ones used for the same wheel 4. Figure 1B Detailed views of devices that are directly interconnected in communication technology in 1C. In this respect, actuators 8 and 9 are associated with different devices selected from wheel braking device 5, steering device 16 and drive device 18 and devices selected from wheel braking device 10, steering device 20 and drive device 21, and are different from each other.

[0034] For example, one of the actuators 8 and 9 may be configured as a brake actuator 8 or 9 of a wheel braking device 5, especially a service brake actuator and / or a parking brake actuator for operating the wheel braking device 10, a steering actuator 8 or 9 configured as a steering device 16 for operating the steering device 20, or a drive actuator 8 or 9 configured as a drive device 18 for operating the drive device 21.

[0035] Currently, the corresponding devices are each assigned to exactly one of the wheels 4, i.e., single-wheel adjusters configured as wheel-individualized drives or steering systems. Alternatively, they are assigned to two wheels 4 on the same axle, particularly as central drives or central steering systems / central steering adjusters. In particular, at least one of the corresponding devices, equipment, control devices, and / or actuators is arranged near the wheel.

[0036] Also identifiable are two control devices 11 and 12, each belonging to one of the actuators 8 and 9 respectively. The first control device in control device 11 belongs to the first actuator in actuator 8, i.e., in the first embodiment, it belongs to the service brake actuator 8. The second control device in control device 12 belongs to the second actuator in actuator 9, i.e., in the first embodiment, it belongs to the parking brake actuator 9. In particular, control devices 11 and 12 are arranged in a common housing or constructed as a common control device.

[0037] The first control device 11 is connected to one of the central control units 6 via a first communication interface 13 in terms of communication technology, and the second control device 11 is connected to one of the central control units 6 via a second communication interface 14 in terms of signal technology. The control devices 11 and 12 are directly connected to each other via a communication connection in terms of communication technology.

[0038] In the second and third embodiments, this corresponds to in Figure 1B and Figure 1C The communication connection is between devices that are directly interconnected in terms of communication technology. In the first embodiment, this communication connection is... Figure 1A The braking mechanism is not identifiable in the middle, but is executed within the corresponding wheel braking device 5.

[0039] As described above, the two control devices 11 and 12 are respectively connected to other control units in the control unit 6 via separate communication lines. Currently, regarding the first embodiment, only one axle 7, particularly the rear axle, has its wheel braking device 5 constructed as shown, and is equipped with a parking brake function and consequently a parking brake actuator 9 and control device 12. In this respect, the service brake actuator 8 and its control device 11, and the parking brake actuator 9 and its control device 12, belong to different braking circuits.

[0040] Control devices 11 and 12 are respectively configured to be operated by a corresponding central control unit 6, and in particular by a corresponding control signal from the central control unit 6, for operating their respective actuators 8 and 9. In this respect, control devices 11 and 12 and control unit 6 are part of the control system 15 of actuator assembly 3.

[0041] Subsequently, reference Figure 3Describe advantageous methods for running actuator component 3. To this end, Figure 3 The method is illustrated in the flowchart. This method ensures, in particular, that a malfunction of the control system 15 will not affect the continued operation of the actuator component 3, and therefore will not affect the driving safety of the vehicle 1.

[0042] Here, in Figures 1A to 1C and Figure 2 The components described herein, their arrangement, and interconnections are merely exemplary in their complexity. In order to take advantage of the actuator assembly 3 and perform the method described below, it is only necessary, as a minimum, to provide two central control units 6 and a device with a first actuator 8, such as a wheel brake device 5 with a service brake actuator 8, and a first control device 11 associated with the service brake actuator, and another or similar device with a second actuator 9, such as a wheel brake device with a parking brake actuator 9, and a second control device 12 associated with the parking brake actuator.

[0043] If different devices are considered, these devices are specifically associated with the same wheel 4 as described above, but this is not mandatory. Devices associated with different wheels 4 can also be used in this method, as long as their corresponding control devices 11, 12 are directly interconnected in terms of communication technology as described above.

[0044] In step S1, the method begins as follows: control devices 11, 12 of at least one wheel braking device 5, steering device 16 and / or drive device 18, especially at least two wheel braking devices 5, steering device 16 and / or drive device 18 of the same axle 7, are operated by one of the central control units 6 as described above, according to the corresponding control signals of the central control unit 6, to operate the corresponding actuators 8, 9.

[0045] In the normal operating mode of actuator assembly 3, control signals are transmitted only from one central control unit of central control unit 6 to the corresponding control device 11 via a communication connection, and from other central control units of central control unit 6 to other control devices of control device 12. Each central control unit 6 is directly connected via a communication connection to only one of the two control devices 11, 12, such as the same wheel brake device 5.

[0046] Furthermore, the control system 15 is monitored for the occurrence of faults. If a fault is identified, the method continues to step S2. In particular, for example, a fault message is output to a display device belonging to the driver of the motor vehicle 1.

[0047] Preferably, in normal operation mode, control signals are transmitted from the corresponding central control unit 6 to the corresponding control devices 11, 12 via at least two independent communication connections, wherein faults in the control system 15, particularly the failure of one of the communication connections, are identified by comparing the control signals with the control devices.

[0048] If the failure of one of the central control units 6 is identified as a fault, then in step S2, the control signals for the relevant control devices 11 and 12 are transmitted by the corresponding other central control units 6. The method ends in step S3.

[0049] If, for example, the central control unit 6 associated with control device 11 malfunctions, then control signals are generated by other corresponding central control units 6 associated with control device 12, transmitted to the uninvolved control device 12 via a direct communication connection between the central control unit 6 and the uninvolved control device 12, and transmitted from the uninvolved control device 12 to the involved control device 11 via a communication connection between control devices 11 and 12. Therefore, the involved control device 11 is reliably supplied with alternatively generated control signals, and the ability to perform service braking using the service brake actuator 8 is further ensured, for example, without limitation.

[0050] If a failure of one of the communication connections between one of the central control units 6 and one of the control devices 11 and 12 is identified as a fault, then the control unit 6 itself is functional and can no longer directly transmit control signals to the corresponding control devices 11 and 12. Therefore, in step S2, the control signals for the relevant control devices 11 and 12 are transmitted via the communication connection between the central control units 6. Alternatively, the control signals for the relevant control devices 11 and 12 are transmitted by the corresponding other central control units 6. The method then concludes with step S3.

[0051] If, for example, the communication connection between control device 11 and the central control unit 6 associated with control device 12 fails, then either the control signal continues to be generated by the same central control unit 6 and transmitted to other central control units associated with control device 12 within central control unit 6 via the communication connection between central control units 6, or the control signal is directly generated by the corresponding other central control unit 6, and in both variations, transmitted by the other central control unit 6 to the unrelated control device 12 via the communication connection between central control unit 6 and the unrelated control device 12, and then transmitted by the unrelated control device 12 to the involved control device 11 via the communication connection between control devices 11 and 12. Therefore, the involved control device 11 can be safely supplied with control signals, and the ability to perform service braking using the service brake actuator 8 is further ensured, for example, without limitation.

[0052] In particular, during normal operation, communication signals for coordinating the control units 6 are additionally transmitted via the communication connection between the central control units 6, and faults in this communication connection are also monitored. If a failure in the communication connection between the central control units 6 is detected, the communication signals are redirected and transmitted to the corresponding central control unit 6, particularly via the communication connection between the control devices 11 and 12.

Claims

1. A method for operating an actuator assembly (3), particularly an actuator assembly of a motor vehicle (1), - in, The actuator component (3) has: At least two actuators (8, 9), wherein at least one actuator is configured to operate the wheel braking device (10), steering device (20) and / or drive device (21) of the motor vehicle (1). and The control system (15) has at least two control devices (11, 12) and two central control units (6). Each control device is associated with one of the actuators (8, 9). The central control units are connected to the control devices (11, 12) via communication connections. - The control devices (11, 12) are respectively controlled by one of the central control units (6) to control the corresponding actuators (8, 9). Its features are, - The control devices (11, 12) are directly interconnected in terms of communication technology via a communication connection. - The control system (15) is monitored for the occurrence of malfunctions. - And when a fault is identified in the control system (15) involving one of the control devices (11, 12), the control signal generated by one of the central control units (6) for the relevant control device (11, 12) is transmitted via the communication connection between the control devices (11, 12).

2. The method according to claim 1, characterized in that, In the normal operating mode of the actuator assembly (3), control signals are transmitted only via communication connection from one of the central control units (6) to one of the control devices (11, 12), and from the other central control units (6) to the other control devices (11, 12), wherein, in particular, each of the central control units (6) is directly connected via communication connection to only one of the two control devices (11, 12) in terms of communication technology.

3. The method according to claim 2, characterized in that, When a failure of one of the central control units (6) is identified as a fault, the control signal for the relevant control device (11, 12) is transmitted by the corresponding other central control unit (6).

4. The method according to claim 3, characterized in that, The control signal is generated by the corresponding other central control unit (6), transmitted to the uninvolved control device (11, 12) through the direct communication connection between the central control unit (6) and the uninvolved control device (11, 12), and transmitted by the uninvolved control device (11, 12) to the involved control device (11, 12) through the communication connection between the control devices (11, 12).

5. The method according to any one of claims 2 to 4, characterized in that, When a communication failure between one of the central control units (6) and one of the control devices (11, 12) is identified as a fault, the control signal for the relevant control device (11, 12) is transmitted by the corresponding other central control unit (6).

6. The method according to claim 5, characterized in that, The control signal is generated by the corresponding other central control unit (6), transmitted by the other central control unit (6) to the uninvolved control device (11, 12) through the communication connection between the central control unit (6) and the uninvolved control device (11, 12), and transmitted by the uninvolved control device (11, 12) to the involved control device (11, 12) through the communication connection between the control devices (11, 12).

7. The method according to any one of claims 2 to 6, characterized in that, The central control units (6) are directly interconnected in communication technology via communication connections, and when a failure of one of the communication connections between the central control units (6) and one of the control devices (11, 12) is identified as a fault, the control signals for the relevant control devices (11, 12) are transmitted via the communication connections between the central control units (6).

8. The method according to claim 7, characterized in that, The control signal is generated by the central control unit (6), transmitted to the other central control units in the central control unit (6) via the communication connection between the central control units (6), transmitted by the other central control units in the central control unit (6) to the uninvolved control devices (11, 12) via the communication connection between the central control unit (6) and the uninvolved control devices (11, 12), and transmitted by the uninvolved control devices (11, 12) to the involved control devices (11, 12) via the communication connection between the control devices (11, 12).

9. The method according to any one of claims 2 to 8, characterized in that, The central control units (6) are directly interconnected in terms of communication technology via a communication connection. In normal operation mode, communication signals are transmitted via the communication connection between the central control units (6). When a failure of the communication connection between the central control units (6) is detected, the communication signal is transmitted to the corresponding central control unit (6) via the communication connection between the control devices (11, 12).

10. The method according to claim 9, characterized in that, The communication signal is generated by a corresponding central control unit in the central control unit (6), transmitted by the central control unit (6) to the control device (11, 12) via the communication connection between the central control unit (6) and the control device (11, 12), transmitted by the control device (11, 12) to the other control device (11, 12) via the communication connection between the control devices (11, 12), and transmitted by the other control device (11, 12) to the other central control unit (6) via the communication connection between the other control device (11, 12) and the other central control unit (6).

11. The method according to any one of the preceding claims, characterized in that, When a fault is identified, output a fault message, especially on the display device.

12. An actuator assembly (3), particularly an actuator assembly for a motor vehicle (1), wherein, The actuator component (3) has: At least two actuators (8, 9), wherein at least one actuator is configured to operate the wheel braking device (10), steering device (20) and / or drive device (21) of the motor vehicle (1). and The control system (15) has at least two control devices (11, 12) and two central control units (6). The control devices are respectively associated with one of the actuators (8, 9), and the central control units are respectively connected to the control devices (11, 12) via communication connections. The control devices (11, 12) and the central control unit (6) are respectively specifically designed to perform the method according to any one of the preceding claims.

13. The actuator assembly according to claim 12, characterized in that, One of the actuators (8, 9) is configured as a service brake actuator (8) of the braking system (2) of the motor vehicle (1), and the other actuators (8, 9) are configured as parking brake actuators (9), wherein, in particular, the parking brake actuator (9) and the service brake actuator (8) are associated with the same wheel braking device (10).

14. A motor vehicle (1), characterized in that It has an actuator component (3) according to any one of claims 12 and 13.

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