Central control and interaction of at least one electric brake, drive and / or steering device for a vehicle

Abstract

The invention relates to a central controller and an interaction of at least one electric brake, drive and / or steering device for a vehicle. The invention also relates to a corresponding method, comprising: determining, by means of the central controller, at least two regulating signals for electric motors of the electric brake, drive and / or steering device according to a preset cascade sequence; outputting, by the central controller, at least one output signal comprising at least two of the determined regulating signals to a control device of the electric brake, drive and / or steering device; reading, by means of the control device, the at least two regulating signals taking into account the at least one output signal output by the central controller; executing, by means of the control device, at least one comparison algorithm preset by the control device for jointly evaluating the at least two regulating signals; and outputting at least one electric motor control signal to the electric motors taking into account the at least one regulating signal.

Description

Technical Field

[0001] This invention relates to a central controller for interacting with a control device for at least one electric braking, driving, and / or steering device for a vehicle, and a control device for at least one electric braking, driving, and / or steering device for a vehicle. The invention also relates to a control system for at least one electric braking, driving, and / or steering device for a vehicle, and an electric braking, driving, and / or steering device for a vehicle. Furthermore, the invention relates to a method for operating at least one electric braking, driving, and / or steering device for a vehicle. Background Technology

[0002] Conventional control strategies for the braking system of a vehicle are known, for example, by DE 10 2018 221 815 A1, DE10 2020 202 477 A1, DE 10 2020 212 789 A1 and DE 10 2022 105 729 A1. Summary of the Invention

[0003] The present invention provides a central controller for interacting with a control device for at least one electric braking, driving and / or steering device for a vehicle according to the present invention, a control device for at least one electric braking, driving and / or steering device for a vehicle according to the present invention, a control system for at least one electric braking, driving and / or steering device for a vehicle according to the present invention, at least one electric braking, driving and / or steering device for a vehicle according to the present invention, and a method for operating at least one electric braking, driving and / or steering device for a vehicle according to the present invention.

[0004] This invention offers the advantageous possibility of enabling / simplifying the transfer of functionality from the electric motor control device for operating the electric braking, drive, and / or steering systems of a vehicle to the corresponding vehicle's central controller. Simultaneously, with the use of this invention, errors generated by the central controller can be readily identified by at least one interacting control device itself when the central controller evaluates / further processes driver-side and / or autonomous braking and / or steering expectations. Despite the transfer of control device functionality to the central controller, vehicles operating with the central controller and at least one control device still meet high safety requirements. In particular, the conventional risks associated with under-braking are virtually negligible.

[0005] By utilizing the possibility provided by this invention for transferring the functions of a control device to a central controller, further functional development can be achieved on the corresponding central controller. This method, in particular, allows for better interoperability of the execution of functions of different electric braking, drive, and / or steering devices of the corresponding vehicle. Furthermore, the use of this invention also enables functional development on the central controller of the corresponding vehicle, independent of functional development on at least one control device interacting with the central controller. Therefore, this invention significantly contributes to improving the operation and performance of at least one electric braking, drive, and / or steering device of a vehicle using at least one electric braking, drive, and / or steering device.

[0006] Another advantage of this invention is that it can be implemented by means of relatively simple programming / reprogramming of the corresponding central controller and at least one control device interacting with it. Therefore, the use of this invention is not or almost not associated with additional costs.

[0007] In an advantageous implementation, the control device is additionally designed and / or programmed such that if at least one unreliable or erroneous signal is determined in a joint estimation of at least two of the control signals performed by the control device, then the control signal following the at least two control signals in the cascade sequence can be determined as an unreliable or erroneous signal. Correspondingly, the control signal preceding the at least two control signals in the cascade sequence can be determined as a reliable signal. This interpretation of at least two control signals is meaningful because the indicators identified for potential errors in the joint estimation of at least two control signals by the control device are likely attributable to errors generated by the central controller in determining the control signal following the cascade sequence.

[0008] Preferably, the control device is additionally designed and / or programmed such that, in order to replace a regulation signal determined to be unreliable or erroneous, the control device can determine a replacement signal, taking into account at least one prior regulation signal in the cascading sequence, wherein at least one motor control signal can be output to the motor of the electric braking, drive, and / or steering equipment, in addition to taking into account at least one determined replacement signal. Therefore, the execution mode of the control device described herein can not only identify errors generated by the central controller but also correct them, thereby ensuring reliable control of the motor of the electric braking, drive, and / or steering equipment.

[0009] As an advantageous improvement, the control device can additionally be designed and / or programmed to perform a joint estimation of at least two of the control signals by means of the control device, taking into account data provided by at least one monitoring component of the electric braking, drive, and / or steering equipment. The execution method of the control device described herein can therefore advantageously utilize the fact that the control device is conventionally connected to at least one monitoring component, enabling the control device to receive data from the monitoring component.

[0010] Alternatively or additionally, the control device may also include a storage device storing information about the electric braking, drive, and / or steering equipment, at least one other vehicle equipment, and / or the vehicle itself. The control device is additionally designed and / or programmed to perform a joint estimation of at least two of the control signals by means of the control device, taking into account the information stored in the storage device. In this manner, the control of the electric motors of the electric braking, drive, and / or steering equipment can also be improved by means of the execution methods described herein.

[0011] The aforementioned advantages are also ensured in the control system of at least one electric braking, driving and / or steering device for a vehicle, which has such a central controller and at least one corresponding operating device.

[0012] Electric braking, driving, and / or steering systems for vehicles with corresponding control devices also achieve the above advantages.

[0013] Furthermore, the method of implementing at least one electric braking, driving, and / or steering device for operating the vehicle also provides the aforementioned advantages. It is specifically noted that the method of implementing at least one electric braking, driving, and / or steering device for operating the vehicle can be improved based on the aforementioned execution method of the control device.

[0014] In a preferred manner, when performing this method, at least one output signal is output from the central controller to the control device of the electric braking, drive, and / or steering equipment via bus communication. Therefore, the advantages of bus communication can also be used for the interaction between the central controller and at least one control device. Attached Figure Description

[0015] Further features and advantages of the invention will then be described with reference to the accompanying drawings. Wherein:

[0016] Figure 1 A schematic diagram illustrating the execution mode of a central controller and at least one control device interacting with it is shown; and

[0017] Figure 2A flowchart is shown illustrating the execution of a method for describing at least one electric braking, driving, and / or steering device for operating a vehicle. Specific implementation method

[0018] Figure 1 A schematic diagram illustrates the execution of a central controller and at least one control device that interacts with it.

[0019] exist Figure 1 The central controller 10, schematically shown, can interact with at least one control device 12 of at least one (partially shown only) electric braking, driving, and / or steering device 14 of a vehicle / motor vehicle. It should be noted that the availability of the central controller 10 and at least one control device 12 is not limited to a specific vehicle type / motor vehicle type equipped with at least one electric braking, driving, and / or steering device 14.

[0020] Multiple different vehicle components may also be used in at least one electric braking, drive, and / or steering device 14, in Figure 1 The electric motor 16 of the electric braking, driving, and / or steering device is shown only graphically. At least one electric braking, driving, and / or steering device 14 can be understood as (almost) any vehicle component having its own electric motor 16, and a vehicle equipped with said vehicle component can be decelerated, driven, and / or steered by means of said vehicle component. At least one electric braking, driving, and / or steering device 14 can be, for example, an electric brake pressure amplification device, an electromechanical brake (EMB), an electric drive motor, an injection valve device for an internal combustion engine, and / or a steering mechanism. In particular, as an electric brake pressure amplification device, a BWA (brake-by-wire) device, an IPB (integrated power brake) device, an electromechanical brake force amplifier (iBooster) located in front of / potentially in front of the master brake cylinder of a hydraulic braking system, and / or a pump equipped with at least one common pump motor of a hydraulic braking system (e.g., ESP) can be used. However, the examples of at least one electric braking, driving, and / or steering device 14 listed herein are not to be construed as definitive.

[0021] The central controller 10 can evaluate at least one braking, driving, and / or steering request signal 18. At least one braking, driving, and / or steering request signal 18 can be output to the central controller 10, for example, by at least one sensor 20 of the vehicle. Figure 1The diagram only illustrates, graphically, an example of a sensor 20 connected to the brake pedal 22, such as a lever travel sensor and / or a driver braking force sensor, as an example of at least one sensor 20. However, at least one sensor 20 can be understood as any vehicle sensor system whose driver's braking desire, acceleration desire, and / or steering desire can be detected and output as corresponding braking, driving, and / or steering request signals 18. Alternatively, at least one braking, driving, and / or steering request signal 18 can also be output to the central controller 10 by at least one automatic control device 24 of the vehicle, by which the vehicle can be autonomously decelerated, accelerated, and / or steered. At least one automatic control device 24 can be, for example, a driver assistance system, such as, in particular, an adaptive cruise control system and / or an autonomous driving automatic control device.

[0022] The central controller 10 is designed and / or programmed such that, by means of the central controller 10, at least two regulating signals 26 for the electric motor 16 of the electric braking, driving, and / or steering device 14 are determined according to a preset cascading sequence, taking into account at least one braking, driving, and / or steering request signal 18 provided. Here, the design and / or programming of the central controller 10 ensures that each regulating signal 26 in the cascading sequence is determined in consideration of at least one braking, driving, and / or steering request signal 18 and / or at least one regulating signal 26 preceding it in the cascading sequence. Preferably, the cascading sequence begins with a regulating signal 26a read from the at least one braking, driving, and / or steering request signal 18 provided. Figure 1 In the example, the central controller 10 reads the target vehicle deceleration a from at least one braking, driving, and / or steering request signal 18 provided, and then, exemplary, determines the target vehicle deceleration a corrected for a preset offset sequentially using the braking, driving, and / or steering request signal 18 output by the sensor 20 of the brake pedal 22. c The brake pedal 22's pedal position p, at least one intermediate value x, and finally the target current intensity I to be delivered to the motor 16 are determined. However, Figure 1 The cascading order can only be interpreted exemplarily.

[0023] At least one output signal 28 is established for at least two of the adjustment signals 26 determined by the central controller 10, such that the at least one output signal 28 includes at least two adjustment signals 26. Preferably, the at least one output signal 28 also includes at least one adjustment signal 26a read from at least one provided braking, driving, and / or steering request signal 18. The at least one output signal 28 may in particular include all adjustment signals 26 read and determined by the central controller 10. Subsequently, the at least one output signal 28 may be output to the control device 12 by means of the central controller 10. In a preferred manner, the central controller 10 and the control device 12 interacting therewith are designed and / or programmed such that the at least one output signal 28 is output / can be output from the central controller 10 to the control device 12 via bus communication. Therefore, the at least one output signal 28 may in particular be a bus signal. It should also be noted that one or more signals may be output to the control device 12 as at least one output signal 28.

[0024] The control device 12 can read at least two adjustment signals 26 included in at least one output signal 28. If at least one output signal 28 includes all adjustment signals 26 read and determined by the central controller 10, then all adjustment signals 26 read and determined by the central controller 10 can also be read from at least one output signal 28 according to a preset cascading order by means of the control device 12. It is explicitly stated here that at least one output signal 28 may also include at least one adjustment signal 26a read from at least one provided braking, driving, and / or steering request signal 18. If necessary, the control device 12 may also have at least one adjustment signal 26a "included" in at least one braking, driving, and / or steering request signal 18.

[0025] Additionally, the control device 12 is designed and / or programmed to execute / enable at least one preset comparison algorithm. The at least one comparison algorithm may, for example, be stored / stored on a storage device 30 of the control device 12 (illustrated only). The at least one preset comparison algorithm is understood to be an algorithm by which, based on a common estimation of at least two of the adjustment signals 26, it can be determined whether the corresponding adjustment signal 26 is unreliable or an erroneous signal. Therefore, the control device 12 is suitable for monitoring / inspecting at least two adjustment signals 26 received via at least one output signal 28 and identifying possible errors in the central controller 10.

[0026] Furthermore, with the aid of the control device 12, at least one motor control signal 32 can be output to the motor 16 of the electric braking, drive, and / or steering device 14, taking into account at least one of the adjustment signals 26. Preferably, the design and / or programming of the control device 12 ensures that the output of at least one motor control signal 32 to the motor 16 is carried out without considering at least one adjustment signal 26 determined by the control device 12 to be an unreliable or erroneous signal. This can also be understood as prohibiting / excluding consideration of at least one adjustment signal 26 determined by the control device 12 to be an unreliable or erroneous signal when outputting at least one motor control signal 32 to the motor 16.

[0027] Therefore, the control device 12 monitors the central controller 10 when the central controller determines at least two adjustment signals for the electric motor 16 of the electric braking, drive, and / or steering equipment 14. Errors that may be generated by the central controller 10 when determining at least two adjustment signals 26 can thus be identified and “corrected” by the control device 12. This significantly contributes to more reliable and safer operation of the electric motor 16 of the electric braking, drive, and / or steering equipment 14. Therefore, vehicles equipped with the central controller 10 and the control device 12 not only provide their drivers with good driving comfort but also offer a high standard of safety.

[0028] The electric motor 16 can be reliably and effectively controlled by means of at least one motor control signal 32 output by the control device 12. The at least one motor control signal 32 output by the control device 12 may be, for example, a motor current supplied to the electric motor 16, which has an actual current intensity corresponding to the target current intensity I.

[0029] The control device 12 described herein is equipped with at least one comparison algorithm that provides a high standard of safety even when functions are transferred between the central controller 10 and the control device 12. The corresponding functions can be optionally provided by suppliers of devices 10 and 12, the vehicle manufacturer itself, and / or other accessory suppliers. It is explicitly stated that, as functions, multiple different functions can be implemented on the central controller 10 and at least one control device 12.

[0030] A particular advantage of the design and / or programming described herein for the central controller 10 and at least one interacting control device 12 is that the central controller 10 and the corresponding interacting control device 12 can use the same software. Therefore, the amount of work to be done in programming the central controller 10 and at least one interacting control device 12 is relatively small. Furthermore, the possibility of using the same software for the central controller 10 and at least one interacting control device 12 simplifies so-called over-the-air (FOTA) updates in the field.

[0031] In a preferred manner, the control device 12 is additionally designed and / or programmed such that if at least one unreliable or erroneous signal is determined during the common estimation of at least two of the control signals 26 performed by means of the control device 12, then the control signal 26 following the at least two control signals 26 in the cascade sequence is determined / may be determined to be an unreliable or erroneous signal. Correspondingly, if at least one unreliable or erroneous signal is determined during the common estimation of at least two of the control signals 26 performed by means of the control device 12, then the control signal 26 preceding the at least two control signals 26 in the cascade sequence is determined to be a reliable signal. This is significant because if at least one unreliable or erroneous signal is determined, it can be reasonably assumed that this may be attributable to an error generated by the central controller 10 in determining the control signal 26 following the cascade sequence.

[0032] If the control device 12, for example, is used to jointly estimate the target vehicle deceleration a and correct the target vehicle deceleration a C If it is determined that at least one of the two adjustment signals 26 is unreliable or erroneous, then the target vehicle deceleration a will be corrected. C The controlled device 12 interprets the signal as unreliable or erroneous because the target vehicle deceleration a is being corrected in a way that takes into account the target vehicle deceleration a. C At that time, the central controller 10 clearly malfunctioned. If the target vehicle deceleration a is being jointly estimated and corrected... C If the control device 12 notices an unreliability or error when the pedal position p of the brake pedal 22 is adjusted, then the pedal position p can be identified as an unreliable or erroneous signal, and the target vehicle deceleration a can be corrected. C This could be interpreted as a reliable signal.

[0033] However, the at least one comparison algorithm executable by the control device 12 is not limited to a common estimate of two adjacent adjustment signals 26 in a preset cascade sequence. The pedal position p can also be “compared,” for example, to a target motor force (as at least an intermediate value x) provided by the electric motor 16 of the electric braking, drive, and / or steering device 14. If the pedal position p is, for example, 18 mm, and the target motor force provided by the electric motor 16 is equal to 3 N, then the control device 12 can identify that at least one of the two adjustment signals 26 is an unreliable or erroneous signal. Accordingly, the target motor force provided by the electric motor 16 can be identified by the control device 12 as an unreliable or erroneous signal, while the pedal position p may, in turn, be interpreted by the control device 12 as a reliable signal.

[0034] As an advantageous improvement, the control device 12 can be additionally designed and / or programmed to replace the regulation signal 26, which is determined to be an unreliable or erroneous signal, and accordingly determine a replacement signal. The determination of the corresponding replacement signal can be performed by means of the control device 12, taking into account at least one regulation signal 26 prior in the cascade sequence and read from at least one output signal 28. If necessary, at least one motor control signal 32 can be output by means of the control device 12, in addition to taking into account at least one determined replacement signal, to the motor 16 of the electric braking, drive, and / or steering device 14.

[0035] At least one comparison algorithm executable by the control device 12 can be implemented, for example, by comparing one of at least two mutually "compared" control signals 26 with a normal value or a normal value range (which is determined taking into account at least one other control signal 26 of the at least two mutually "compared" control signals 26). Corresponding monitoring can therefore be performed at the signal level, using checksums and / or defined value ranges. Monitoring can be performed at both the software and physical / functional levels. Sufficiently large tolerance thresholds can be used for monitoring to avoid erroneous degradation of at least one control signal 26.

[0036] In a particularly advantageous implementation, the control device 12 is also adapted to jointly estimate at least two of the adjustment signals 26, taking into account data 34 provided by at least one monitoring component 36 of the electric braking, drive, and / or steering equipment 14. The at least one monitoring component 36 can be understood, for example, as a sensor component suitable for measuring at least one physical parameter on the corresponding braking, drive, and / or steering equipment 14. For example, temperature or braking pressure can be measured by means of the at least one monitoring component 36. Similarly, the at least one monitoring component 36 can also be understood as monitoring electronics of the corresponding braking, drive, and / or steering equipment 14, by means of which the state of the electric braking, drive, and / or steering equipment 14 can be determined. Alternatively, the control device 12 can also be adapted to read data 38 output by the vehicle's central controller 10 and / or (not shown) other controllers. The vehicle's weight and / or current speed can, for example, be output to the control device 12 as data 38. In particular, the normal value or normal value range used when performing the comparison algorithm can also be determined / selected in consideration of the corresponding data 34 and 38.

[0037] Alternatively or additionally, information regarding the electric braking, drive, and / or steering equipment 14, at least one additional vehicle device 22, and / or the vehicle itself may also be stored on the storage device 30 of the control device 12. If necessary, the control device 12 is also designed and / or programmed to perform a common estimation of at least two of the control signals 26, taking into account the information stored on the storage device 30. In particular, the normal value or normal value range used when performing the comparison algorithm may also be determined / selected, taking into account the relevant information. The relevant information may, for example, include the manufacturer of the brake pedal 22 and / or the electric braking, drive, and / or steering equipment 14, and the model of the brake pedal and / or the electric braking, drive, and / or steering equipment 14. The control device 12 may also be designed and / or programmed such that a dynamic model can be built using the provided data 34 and 38 and / or the information stored on the storage device 30, which can be considered for performing a common estimation of at least two of the control signals 26.

[0038] The central controller 10 and at least one of its control devices 12 can form a control system for at least one electric braking, driving, and / or steering device 14 of the vehicle. Alternatively, the control device 12 can also exist as a sub-unit of the electric braking, driving, and / or steering device 14. However, it should be noted that the construction of the control device 12 as a structural sub-unit of the electric braking, driving, and / or steering device 14 is optional.

[0039] Figure 2A flowchart is shown illustrating the execution of a method for describing at least one electric braking, driving, and / or steering device for operating a vehicle.

[0040] The feasibility of the methods described thereafter is not limited to a specific type of at least one operating electric braking, drive, and / or steering device, nor is it limited to a specific vehicle type / motor vehicle type of vehicle / motor vehicle equipped with electric braking, drive, and / or steering devices. Examples of at least one electric braking, drive, and / or steering device have been listed above.

[0041] In method step S1, at least two regulating signals for the electric motors used in the electric braking, driving, and / or steering devices are determined by means of the vehicle's central controller according to a preset cascading sequence. The determination of the at least two regulating signals is performed taking into account at least one braking, driving, and / or steering request signal provided by at least one sensor of the vehicle and / or at least one automatic control device of the vehicle. Here, each regulating signal in the cascading sequence is determined taking into account at least one braking, driving, and / or steering request signal and / or at least one prior regulating signal in the cascading sequence. Examples of at least one regulating signal have been listed above.

[0042] In the subsequent method step S2, at least one output signal is output from the central controller to the control device of the electric braking, drive, and / or steering equipment, said output signal including at least two of the determined adjustment signals. Preferably, at least one output signal is output from the central controller to the control device of the electric braking, drive, and / or steering equipment via bus communication.

[0043] Subsequently, in method step S3, at least two regulating signals for the electric motors used in the electric braking, drive, and / or steering devices are output by means of a control device according to a preset cascading sequence, taking into account at least one output signal output by a central controller. In another method step S4, at least one comparison algorithm preset by the control device is executed by the control device to jointly estimate at least two of the regulating signals. In this way, it is determined / possibly possible to determine whether the corresponding regulating signal is unreliable or erroneous for at least one of the regulating signals.

[0044] In another method step S5, at least one motor control signal is output to the motor of the electric braking, drive, and / or steering device by means of a control device, taking into account at least one of the cascaded read and / or determined adjustment signals. Therefore, the execution of the method described herein also achieves the aforementioned advantages.

Claims

1. A central controller (10) for interacting with at least one control device (12) of at least one electric braking, driving and / or steering device (14) for a vehicle, wherein, The central controller (10) is designed and / or programmed such that: - With the aid of the central controller (10), taking into account at least one braking, driving, and / or steering request signal (18) provided by at least one sensor (20) of the vehicle and / or at least one automatic control device (24) of the vehicle, at least two adjustment signals (26) for the electric motor (16) of the electric braking, driving, and / or steering device (14) can be determined according to a preset cascading sequence, such that each adjustment signal (26) in the cascading sequence is determined in consideration of the at least one braking, driving, and / or steering request signal (18) and / or at least one previous adjustment signal (16) in the cascading sequence, and - With the aid of the central controller (10), at least one output signal (28) of at least two of the determined adjustment signals (26) can be output to the control device (12).

2. A control device (12) for at least one electric braking, driving, and / or steering device (14) of a vehicle, for interacting with a central controller (10) according to claim 1, wherein, The control device (12) is designed and / or programmed such that: - With the aid of the control device (12), taking into account at least one output signal (28) output by the central controller (10), the at least two adjustment signals (26) for the electric motor (16) of the electric braking, driving and / or steering device (14) can be output according to the preset cascading sequence. - The control device (12) can execute at least one preset comparison algorithm, which, based on a common estimation of at least two of the adjustment signals (26), determines whether the corresponding adjustment signal (26) is unreliable or erroneous; and - With the aid of the control device (12), at least one motor control signal (32) can be output to the motor (16) of the electric braking, driving and / or steering device (14) in consideration of at least one of the adjustment signals (26).

3. The control device (12) according to claim 2, wherein, The control device (12) is additionally designed and / or programmed such that if at least one unreliable or erroneous signal is determined to exist during a common estimation of at least two of the control signals (26) performed by means of the control device (12), then the control signal (26) following the at least two control signals (26) in the cascade sequence can be determined to be an unreliable or erroneous signal.

4. The control device (12) according to claim 3, wherein, The control device (12) is additionally designed and / or programmed such that, by means of the control device (12), a substitute signal can be determined in consideration of at least one prior control signal (26) in the cascade sequence, and wherein, by means of the control device (12), in addition to considering at least one determined substitute signal, the at least one motor control signal (32) can be output to the motor (16) of the electric braking, driving and / or steering device (14).

5. The control device (12) according to any one of claims 2 to 4, wherein, The control device (12) is additionally designed and / or programmed to enable the joint estimation of at least two of the control signals (26) by means of the control device (12) with regard to data (34) provided by at least one monitoring component (36) of the electric braking, driving and / or steering device (14).

6. The control device (12) according to any one of claims 2 to 5, wherein, The control device (12) includes a storage device (30) storing information about the electric braking, driving and / or steering device (14), at least one additional vehicle device (22) of the vehicle and / or the vehicle, and wherein the control device (12) is additionally designed and / or programmed to enable the joint estimation of at least two of the adjustment signals (26) by means of the control device (12) with additional consideration of the information stored in the storage device (12).

7. A control system for at least one electric braking, driving, and / or steering device (14) for a vehicle, comprising: The central controller (1) according to claim 1; and At least one control device (12) according to any one of claims 2 to 6.

8. An electric braking, driving, and / or steering device (14) for a vehicle, comprising: The control device (12) according to any one of claims 2 to 6.

9. A method for operating at least one electric braking, driving, and / or steering device (14) of a vehicle, comprising the following steps: Taking into account at least one braking, driving, and / or steering request signal (18) provided by at least one sensor (20) and / or at least one automatic control device (24) of the vehicle, at least two adjustment signals (26) for the electric motor (16) of the electric braking, driving, and / or steering device (14) are determined by means of the central controller (10) of the vehicle according to a preset cascade sequence, wherein, Each adjustment signal (26) in the cascade sequence is determined in consideration of the at least one braking, driving and / or steering requirement signal (18) and / or at least one previous adjustment signal (26) in the cascade sequence (S1). The central controller (10) outputs at least one output signal (28) including at least two of the determined adjustment signals (26) to the control device (12) of the motor braking, driving and / or steering device (14) (S2). According to the preset cascade sequence, taking into account at least one output signal (28) output by the central controller (10), at least two adjustment signals (26) of the motor (16) for the electric braking, driving and / or steering device (14) are read by means of the control device (12) (S3). The control device (12) executes at least one comparison algorithm preset by the control device (12) to jointly estimate at least two adjustment signals in the adjustment signals (26), wherein, for at least one adjustment signal in the adjustment signals (26), it can be determined whether the corresponding adjustment signal (26) is unreliable or erroneous (S4); and The at least one motor control signal (32) is output to the motor (16) of the electric braking, driving and / or steering device (14) in consideration of at least one of the regulating signals (26) in the cascade sequence (S5).

10. The method according to claim 9, wherein, The at least one output signal (28) is output by the central controller (10) via bus communication to the control device (12) of the motor braking, driving and / or steering device (14).

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