Method for detecting a collision between a motor vehicle and a raised road surface, and corresponding control unit

Abstract

Method for detecting a collision by a motor vehicle (10) onto a raised road surface, the method comprising the steps: Determine, by evaluating data from a sensor device (14) of the motor vehicle (10), a first angular velocity about a longitudinal axis of the motor vehicle (10); Determine, by evaluating data from the sensor device (14), a second angular velocity about a transverse axis of the motor vehicle (10), Deriving a roll motion and a pitch motion from the first angular velocity and the second angular velocity; Determining the rotational speed of a wheel (16) of the motor vehicle (10); characterized by the fact that the process further features: Determining a frequency spectrum of the wheel rotational speed; Identifying typical harmonics in the frequency spectrum; and Generating a signal to indicate the collision process based on the wheel rotation speed and the harmonic in the frequency spectrum when the motor vehicle (10) has simultaneously performed a pitching and rolling motion.

Description

Field of the invention

[0001] The invention relates to a method for detecting a collision of a motor vehicle with a raised road surface, in particular with a curb. Furthermore, the invention relates to a control unit for implementing such a method. Background of the invention

[0002] Modern motor vehicles typically have comprehensive sensor technology that can detect movements of the vehicle and / or movements of individual components, such as a wheel of the vehicle. The vehicle's sensor technology may include an inertial sensor system that can determine the speed and / or acceleration of the vehicle, for example, in three spatial directions. The vehicle's sensor technology may also include, for example, at least one yaw rate sensor for detecting the rotational speed of a wheel of the vehicle.

[0003] Such sensors are installed in almost all modern motor vehicles, whereby data recorded by the sensors can be fed to and processed by a driver assistance system of the motor vehicle, such as a vehicle dynamics control system (e.g. Electronic Stability Program “ESP”) and / or a driving situation recognition system.

[0004] The motor vehicle's sensors can also make it possible to detect individual wheel vibrations, specific frequency components and / or frequency changes, for example through a frequency analysis of data and / or signals from the sensors.

[0005] Furthermore, driving dynamics models based on data and / or signals from the sensor system, in particular an inertial sensor system of the motor vehicle, can enable the determination of a vehicle acceleration and / or a jerking movement of the motor vehicle.

[0006] The document DE 40 39 629 A1 describes a system for generating signals for controlling or regulating the movement sequences of a chassis of a passenger and / or commercial vehicle.

[0007] The document DE 103 27 591 A1 describes a control system for a motor vehicle with a control device, wherein the control device determines a road longitudinal inclination or pitch angle and a road transverse inclination angle.

[0008] The document DE 103 27 593 A1 describes a system for detecting the vehicle's global position and the vehicle's relative position using suspension height sensors.

[0009] The document DE 10 2008 012 912 A1 describes a method for detecting contact of a curb by a vehicle.

[0010] The document DE 10 2009 047 248 A1 describes a method for assisting a driver of a vehicle during a driving maneuver to overcome an obstacle at a low speed, wherein the obstacle has a height that can be overcome by the vehicle. Disclosure of the inventionAdvantages of the invention

[0011] Embodiments of the present invention may advantageously enable a comprehensive driver assistance system to be provided for a motor vehicle, such as a car, a truck or a bus.

[0012] According to a first aspect of the invention, a method is proposed for detecting a collision of a motor vehicle with a raised road surface. The raised road surface may, for example, refer to a curb of a roadway on which the motor vehicle is traveling.

[0013] According to one embodiment of the invention, the method comprises the following steps: determining, by evaluating data from a sensor device of the motor vehicle, a first angular velocity about a longitudinal axis of the motor vehicle, and determining, by evaluating data from the sensor device, a second angular velocity about a transverse axis of the motor vehicle. The method according to the invention is particularly characterized in that the method further comprises the following steps: deriving a rolling movement and a pitching movement from the first angular velocity and the second angular velocity, and generating a signal to indicate the collision process if the motor vehicle has simultaneously executed a pitching movement and a rolling movement.

[0014] In other words, by evaluating data from the sensor device, a simultaneous roll-pitch movement of the motor vehicle, such as may occur when driving onto the road elevation, can be detected, and the signal indicating the collision process can be generated and / or output in response to the detection of the roll-pitch movement.

[0015] The method according to the invention can thus advantageously detect a collision and / or partial collision of the motor vehicle with one or more wheels of the motor vehicle with a raised road surface, such as a curb and / or an atypical raised road surface. Thus, based on the signal indicating the collision, a notification and / or warning signal can be issued to a driver of the motor vehicle, among other things.

[0016] The sensor device can comprise, for example, an inertial sensor device of the motor vehicle, which can determine, for example, an acceleration, a speed and / or a rotation rate of a movement of the motor vehicle about a longitudinal axis, a transverse axis and / or a vertical axis of the motor vehicle.

[0017] The first angular velocity can refer to an angular velocity of a first rotational movement of the motor vehicle about the longitudinal axis, often also called the roll axis. The roll movement can thus refer to a rotational movement, such as the first rotational movement, about the roll axis. Deriving the roll movement can comprise determining a first angle of rotation based on the first angular velocity.

[0018] The second angular velocity can refer to an angular velocity of a second rotational movement of the motor vehicle about the transverse axis, often also called the pitch axis. The pitching movement can thus refer to a rotational movement, such as the second rotational movement, about the pitch axis. Deriving the pitching movement can include determining a second angle of rotation based on the second angular velocity.

[0019] According to the invention, the method further comprises the following steps: detecting a wheel rotational speed of a wheel of the motor vehicle, and generating the signal for indicating the collision of the motor vehicle based on the wheel rotational speed. The wheel rotational speed can, for example, designate a rotational rate of the wheel and / or a wheel speed. The wheel rotational speed can, for example, be detected by means of a rotational rate sensor device of the sensor device. Driving onto the road elevation can lead to a clearly distinguishable change in the wheel rotational speed of the wheel(s) driving onto the road elevation, for example compared to wheels not driving onto the road elevation, so that detecting the wheel rotational speed or the change therein can be a reliable indicator of the collision.

[0020] According to the invention, the method further comprises the following steps: determining a frequency spectrum of the wheel rotational speed, identifying a (for example, typified) harmonic in the frequency spectrum, and generating the signal for indicating the collision of the motor vehicle based on the harmonic in the frequency spectrum. Determining a frequency spectrum of the wheel rotational speed can comprise decomposing data and / or signals from the sensor device, such as a wheel yaw rate sensor, and / or decomposing the wheel rotational speed into individual frequency components, for example within the framework of a Fourier analysis. In other words, data and / or signals from the sensor device, in particular data from the yaw rate sensor, can be analyzed with regard to their frequency response, wherein collision with the road surface elevation can be identifiable in the frequency response as a harmonic to regular frequency components.For example, a harmonic can be typified by having a predefined pattern of frequency components.

[0021] According to one embodiment of the invention, the method further comprises the following steps: determining a speed and / or an acceleration of the motor vehicle parallel to a vertical axis, parallel to the longitudinal axis, and / or parallel to the transverse axis of the motor vehicle, and generating the signal to indicate the rear-end collision of the motor vehicle based on the determined speed and / or the determined acceleration. Rear-end collisions with a raised road surface, such as a curb, generally occur with only one side of the vehicle, via the front or rear, and usually with only one wheel of the motor vehicle. The vehicle can experience a rolling movement about the longitudinal axis of the vehicle, a pitching movement about the transverse axis of the vehicle, a speed parallel to the vertical axis of the vehicle, and / or an acceleration parallel to the vertical axis.The inventive detection of the speed and / or acceleration parallel to the vertical axis can thus serve as a reliable indicator for the collision with the curb.

[0022] According to one embodiment of the invention, the method further comprises the following steps: determining a vehicle speed of the motor vehicle, wherein the signal for indicating the rear-end collision is generated at a vehicle speed of less than 5 km / h. Driving onto the road elevation generally occurs at low vehicle speeds, as can be the case, for example, when driving onto a curb during a parking maneuver. By outputting the signal at vehicle speeds of less than 5 km / h, it can be avoided that driving over an uneven road surface during normal driving is falsely recognized as driving onto the road elevation. In other words, the signal is output within a vehicle speed range, which for parking maneuvers can be in the typical range of approximately + / - 10 km / h, preferably + / - 5 km / h. This means that the signal can also be output when reversing.

[0023] According to one embodiment of the invention, the sensor device comprises at least one yaw rate sensor device, at least one acceleration sensor device, and / or at least one speed sensor device. The yaw rate sensor device, the acceleration sensor device, and / or the speed sensor device can detect the corresponding variables, yaw rate, acceleration, and / or speed, for the longitudinal axis, the transverse axis, and / or the vertical axis of the motor vehicle.

[0024] According to one embodiment of the invention, the method further comprises the following steps: determining a coefficient of friction between the wheel and a road surface based on the determined wheel rotational speed, and comparing the determined coefficient of friction with at least one further coefficient of friction of another wheel of the motor vehicle. The coefficient of friction can also be determined based on a load acting on the wheel, such as a vertical force of the wheel. When driving onto the road elevation, a change in the load or vertical force acting on the wheel driving up and / or a temporary change in the coefficient of friction between the wheel driving up and the road surface can occur. This change in the load and / or coefficient of friction can, at least in the short term, lead to a clearly distinguishable change in the wheel rotational speed compared to wheels without a height difference, whereby this effect can be particularly pronounced with driven wheels.A comparison of the friction coefficient of the approaching wheel with at least one other friction coefficient of another non-approaching wheel can thus serve as a reliable indicator for the approach to the road elevation.

[0025] According to one embodiment of the invention, the method further comprises the step of detecting a torque acting on a steering axle, which torque is caused by a wheel driving onto the road elevation. When driving onto and / or off the road elevation, a lateral torque can act on at least the wheel driving onto or off the road elevation. If this wheel is located on a steerable axle of the vehicle, this torque or the torque change can be detected in a control unit of the vehicle, such as the EPS. A typical torque change for driving onto or off the road can be correlated with the current profile in order to more clearly distinguish between driving onto or off the road.

[0026] According to one embodiment of the invention, the method further comprises the following steps: outputting, based on the signal indicating the rear-end collision, a warning signal using a warning signal generating device of the motor vehicle. The warning signal can be a haptic warning signal, such as a steering torque acting on a steering wheel of the motor vehicle. Alternatively or additionally, the warning signal can be an acoustic and / or optical warning signal. This can ensure that the driver of the motor vehicle can be reliably informed that the vehicle is approaching the raised road surface, so that they can react appropriately and, for example, avoid tire wear caused by prolonged, heavy partial loading of a tire. This can also prevent an accident caused by a jolt during a drive off the raised road surface, for example, while reversing out of a parking space.

[0027] According to one embodiment of the invention, the method further comprises the following steps: generating a braking torque on at least one wheel of the motor vehicle and / or generating a steering torque on a steering wheel of the motor vehicle when a rear-end collision of the motor vehicle has been detected, in order to prevent the motor vehicle from jerking when driving off the raised road surface. The method according to the invention can thus be regarded as a type of semi-autonomous driver assistance system that can independently detect a collision with the raised road surface and, by generating a braking torque and / or a steering torque, for example with the aid of an electronic stabilization program (ESP) of the vehicle, can support the driver in avoiding damage to the vehicle.For this purpose, the signal indicating the collision process can also be stored in a memory device so that, for example, after the driver returns to a vehicle parked on a curb, the driver can be informed again and a jerk or shock when driving out of the parking space when driving off the raised road surface and / or parking accidents can be avoided.

[0028] A further aspect of the invention relates to a control unit for a motor vehicle, which is designed to carry out all steps of the method as described above and below.

[0029] In summary, the method according to the invention and / or the control unit according to the invention for carrying out the method can be described as follows. Driving into and / or partially driving onto the raised road surface can lead to a rolling motion, a pitching motion, a speed, and / or an acceleration of the motor vehicle parallel to the vertical axis. The driving into the road surface can be associated with a damage-relevant jump in height of the wheel driving into the road surface and / or of the motor vehicle. The signal indicating the driving into the road surface can be based on the simultaneous detection of standardized features, for example, through a suitable combination of a rolling motion (rotational movement about the x-axis, Omega_x), a pitching motion (rotational movement about the y-axis, Omega_y), a speed in the z-direction or parallel to the vertical axis (v_z), and / or an acceleration of the vehicle in the z-direction or parallel to the vertical axis (a_z).In this case, the signals and / or data from the sensor device can be typified in terms of their temporal and / or frequency characteristics for the application case of driving onto the road elevation or the corresponding damage situation and combined in a suitable manner. At the same time, when driving onto the road elevation, a change in load and / or a change in the coefficient of friction on the wheel driving onto the elevation can occur compared to other wheels without a height jump, so that the collision can be detected in terms of a temporal and / or frequency characteristic of a wheel rotational speed (Omega_Wheel), for example, typified for the application case of a curb or the corresponding damage situation. Due to the necessary simultaneity of the typified characteristics, the height jump relevant to the damage can be detected as soon as the situation begins, and the driver can be alerted to the detected collision by issuing a warning signal.Even if the collision is detected late, the information can be useful because, for example, unnoticed tire damage, such as caused by a wheel being parked for a long time with only little or lateral contact of the tread, can be prevented, or a shock or jolt can be avoided when reversing out of a parking space, which can lead to a parking accident in tight parking situations.

[0030] Furthermore, tire damage and / or rim scratches, which can occur, for example, when parking and approaching a curb from the side, can be avoided, so that tire wear, rim imbalance and / or rim wear can be minimized and / or the appearance of the tire and / or rim can be improved. When approaching the bump from the side, at least one wheel can rub and / or scratch against the bump or damage-relevant surfaces. This can be associated with a temporary change in the friction coefficient at the affected wheel compared to the other wheels without rubbing or scratching. The evaluation of the temporal profiles of the wheel rotational speed (Omega_Wheel) and / or the corresponding frequency profiles of the wheel rotational speed with rubbing or scratching against the bump can allow a clearly differentiated feature delimitation from the wheels without rubbing or scratching.In addition, to increase the robustness of the detection, basic patterns of typified time and frequency curves of friction or scratching processes can be characterized, stored in a memory device and compared with instantaneous values.

[0031] Based on the detection of a significant height difference, a driver can be warned visually, acoustically, and / or haptically, or in combination. After the driver returns to the curb-parked vehicle, the vehicle may have memorized the situation and inform the driver again. This allows the driver to avoid a sudden jerk or jolt when exiting a parking space and / or parking accidents.

[0032] In addition, a shock jolt can also be actively avoided by the vehicle. If a risk of a shock jolt is detected, a moderate braking torque can be applied to suitable wheels, for example via ESP. Sensors can support the detection of a shock jolt by additionally transmitting a lateral force via the steering axle, which can trigger a steering torque (detected via the lumbar spine). Partially automated avoidance can be achieved, for example, by applying a noticeable but overridable steering torque, e.g., via ESP.

[0033] For partially automated / automated parking systems, the detection of the collision process according to the invention can be used to provide a backup in the event of weaknesses in the environmental sensor system and to make the system significantly more robust overall. Short description of the drawings

[0034] Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be construed as limiting the invention. Fig. 1 shows a motor vehicle with a control unit according to an embodiment of the invention. Fig. 2 shows a flow chart illustrating steps of the method according to the invention for detecting a collision of the motor vehicle with a road elevation.

[0035] The figures are merely schematic and not to scale. The same reference numerals throughout the figures indicate identical or equivalent features. Embodiments of the invention

[0036] Fig. 1 shows a motor vehicle 10 with a control unit 12 according to an embodiment of the invention.

[0037] The motor vehicle 10 has a sensor device 14.

[0038] The sensor device 14 has a yaw rate sensor device 14a, which is designed to detect a rotational movement of the motor vehicle 10 about its longitudinal axis (x-axis), its transverse axis (y-axis), and / or its vertical axis (z-axis). For this purpose, the yaw rate sensor device 14a can determine, for example, an angular velocity or a yaw rate for a rotational movement of the motor vehicle 10 about one of the axes. By integrating the angular velocity over the duration of the rotational movement, the yaw rate sensor device 14a can further determine a rotation angle and / or an angular change of the vehicle 10.

[0039] The sensor device 14 further comprises an acceleration sensor device 14b, which is designed to determine an acceleration of the motor vehicle 10 parallel to at least one of the axles of the motor vehicle 10.

[0040] Furthermore, the sensor device 14 has a speed sensor device 14c, which is designed to determine a speed of the motor vehicle 10 parallel to at least one of the axles of the motor vehicle 10.

[0041] Furthermore, the sensor device 14 has at least one wheel rotational speed sensor device 14d, which is designed to detect, for example, based on at least one wheel sensor, a rotational rate, an angular velocity, a wheel speed, and / or a wheel rotational speed of at least one wheel 16 of the motor vehicle 10. Preferably, the sensor device 14 has a wheel rotational speed sensor device 14d for each wheel 16 of the motor vehicle 10.

[0042] To determine the speed of the motor vehicle 10, data detected by the wheel speed sensor device 14d, e.g. the rotation rate of at least one wheel, can be transmitted to the speed sensor device 14c, which can calculate the speed of the motor vehicle 10 based on the transmitted data.

[0043] The sensor device 14 can also be designed to determine a load acting on a wheel 16 parallel to the vertical axis of the vehicle 10.

[0044] The control unit 12 is designed to acquire and / or evaluate data and / or signals from the sensor device 14 with respect to their temporal profile. Furthermore, the control unit 12 is designed to evaluate data and / or signals from the sensor device 14 with respect to their frequency profile, for example by determining and / or evaluating a frequency spectrum of the data and / or signals from the sensor device 14.

[0045] Furthermore, the control unit 12 is designed to detect a collision of the motor vehicle 10 with a raised road surface, as described above and below, and to generate a signal indicating the collision. The signal can be fed, for example, to a warning signal device 18 of the motor vehicle 10, which is designed to emit a haptic, acoustic, and / or visual warning signal and thereby alert a driver of the motor vehicle to the collision.

[0046] Fig. 2 shows a flow chart to illustrate steps of the method according to the invention for detecting a collision of the motor vehicle 10 with a road elevation, such as a curb.

[0047] In a first step S1, a first angular velocity of a first rotational movement of the motor vehicle 10 about the longitudinal axis (x-axis) of the motor vehicle 10 is determined. Step S1 may include acquiring data with the sensor device 14 and evaluating the data by the control unit 12. The first rotational movement may refer to a rolling movement of the motor vehicle 10, i.e., a rotational movement about the longitudinal axis.

[0048] In a second step S2, a second angular velocity of a second rotational movement of the motor vehicle 10 about the transverse axis (y-axis) of the motor vehicle 10 is determined. Step S2 may include acquiring data with the sensor device 14 and evaluating the data by the control unit 12. The second rotational movement may denote a pitching movement of the motor vehicle 10, i.e., a rotational movement about the transverse axis.

[0049] In a third step S3, a rolling motion of the motor vehicle is derived from the first angular velocity determined in step S1, and a pitching motion of the motor vehicle 10 is derived from the second angular velocity determined in step S2. For this purpose, the first angular velocity can be integrated over a first duration of the first rotational movement, so that a first angle of rotation is determined. Analogously, the second angular velocity can be integrated over a second duration of the second rotational movement, so that a second angle of rotation is determined. To determine the rolling motion, the first angle of rotation can be compared, for example, with a first threshold angle, and to determine the pitching movement, the second angle of rotation can be compared, for example, with a second threshold angle. The threshold angles can each be, for example, in the range of a few degrees, preferably in the range of one degree.

[0050] If a rolling motion and a pitching motion are detected simultaneously, a signal indicating the approach to the raised road surface is generated and / or output by the control unit 12 in a step S4. For example, the signal can be generated and / or output when the first and second threshold angles are exceeded.

[0051] To increase the robustness and reliability of the method for detecting the rear-end collision, a speed of the motor vehicle 10 can be determined using the sensor device 14, for example, the speed sensor device 14c, parallel to the vertical axis (z-axis) of the vehicle 10, in an optional step S3a prior to step S4. The signal indicating the rear-end collision can then be output in step S4 based on the determined speed, for example, when a threshold value is exceeded. Alternatively or additionally, a frequency spectrum can be generated and / or evaluated based on data and / or signals from the speed sensor device 14c, wherein certain frequency components can serve as an indicator of the rear-end collision.

[0052] Alternatively or additionally, in the optional step S3a, an acceleration of the motor vehicle 10 can be determined using the sensor device 14, for example, the acceleration sensor device 14b, parallel to the vertical axis (z-axis) of the vehicle 10. The signal indicating the collision can then be output in step S4 based on the determined acceleration, for example, when a threshold value is exceeded. Alternatively or additionally, a frequency spectrum can be generated and / or evaluated based on data and / or signals from the acceleration sensor device 14b, whereby certain frequency components can serve as an indicator of the collision.

[0053] Alternatively or in addition to step S3a, a vehicle speed can be determined in a step S3b, for example, using the speed sensor device 14c. The signal indicating the collision maneuver can then be generated and / or output in step S4 if the vehicle speed falls below a threshold value. The threshold value can be approximately 5 km / h. Step S3b can therefore include comparing the vehicle speed with the threshold value.

[0054] Alternatively or in addition to steps S3a and S3b, a friction coefficient between the wheel 16, which drives onto the road elevation, and a road surface can be determined in a further optional step S3c.

[0055] For this purpose, in a step S3c', a wheel rotational speed of wheel 16 can be determined, for example, using the wheel rotational speed sensor device 14d. Based on the wheel rotational speed, the coefficient of friction can then be determined. A load acting on wheel 16 can also be determined and taken into account when determining the coefficient of friction.

[0056] The determined friction coefficient can then be compared with at least one further friction coefficient of another wheel 16 of the motor vehicle which has not driven onto the road surface elevation, and the signal can be generated and / or output in step S4 if, for example, the friction coefficients differ greatly from one another.

[0057] Optionally, a frequency spectrum of the wheel rotational speed can also be generated or determined in a step S3c''. A harmonic can then be identified in the frequency spectrum as an indicator of the collision process, and based on the harmonic, the signal can be generated and / or output in step S4.

[0058] If the signal indicating the rear-end collision is generated in step S4, it can be fed to the warning signal generator device 18 in a step S5, and a haptic, acoustic, and / or visual warning signal can be output by the warning signal generator device 18, which can alert the driver to the rear-end collision. The signal indicating the rear-end collision can also be stored in a memory device and fed to the warning signal generator device 18 again, for example, when the motor vehicle 10 is restarted after a parking maneuver.

[0059] Alternatively or additionally, based on the signal from step S4, for example, a steering torque can be output to a steering wheel of the vehicle 10 and / or a braking torque can be output to at least one wheel 16 of the vehicle in order, for example, to avoid or at least counteract a jerk of the motor vehicle 10 when driving off the road elevation.

Claims

[1] Method for detecting a collision of a motor vehicle (10) with a road elevation, the method comprising the steps: Determining, by evaluating data from a sensor device (14) of the motor vehicle (10), a first angular velocity about a longitudinal axis of the motor vehicle (10); Determining, by evaluating data from the sensor device (14), a second angular velocity about a transverse axis of the motor vehicle (10), Deriving a roll motion and a pitch motion from the first angular velocity and the second angular velocity; Detecting a wheel rotation speed of a wheel (16) of the motor vehicle (10); characterized by that the procedure further comprises: Determining a frequency spectrum of the wheel rotation speed; Identifying typical harmonics in the frequency spectrum; and Generating a signal indicating the collision based on the wheel rotation speed and on the harmonic in the frequency spectrum when the motor vehicle (10) has performed a pitching movement and a rolling movement simultaneously. [2] Method according to one of the preceding claims, further comprising: Determining a speed and / or an acceleration of the motor vehicle (10) parallel to a vertical axis, the longitudinal axis, and / or the transverse axis of the motor vehicle (10); Generating the signal for indicating the collision process of the motor vehicle (10) based on the determined speed and / or the determined acceleration. [3] Method according to one of the preceding claims, further comprising: Determining a vehicle speed of the motor vehicle (10), wherein the signal for indicating the collision process is generated at a vehicle speed of less than or equal to 5 km / h. [4] Method according to one of the preceding claims, wherein the sensor device (14) comprises at least one rotation rate sensor device (14a), at least one acceleration sensor device (14b) and / or at least one speed sensor device (14c). [5] The method according to claim 1, further comprising: Determining a coefficient of friction between the wheel (16) and a road surface based on the determined wheel rotational speed; and Comparing the determined friction value with at least one further friction value of another wheel (16) of the motor vehicle (10). [6] Method according to one of the preceding claims, further comprising: Detection of a moment acting on a steering axle caused by the collision of a wheel with the road elevation. [7] Method according to one of the preceding claims, further comprising: Outputting, based on the signal indicating the collision process, a warning signal with a warning signal generator device (18) of the motor vehicle (10). [8] Method according to one of the preceding claims, further comprising: Generating a braking torque on at least one wheel (16) of the motor vehicle (10) and / or generating a steering torque on a steering wheel of the motor vehicle (10) when a collision of the motor vehicle (10) has been detected in order to avoid a jerk of the motor vehicle (10) when driving off the road elevation. [9] Control unit (12) for a motor vehicle (10), which is designed to carry out all steps of the method according to one of the preceding claims.

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