Method for holding a vehicle in motion for steering the vehicle, a vehicle, a computer program product, a computer-readable medium and a data carrier signal

Abstract

The present invention relates to a method for holding a vehicle in motion for steering the vehicle, a vehicle, a computer program product, a computer-readable medium and a data carrier signal.

Description

[0001] The present invention relates to a method for the movement-technical holding of a vehicle for steering the vehicle, a vehicle, a computer program product, a computer-readable medium and a data carrier signal.

[0002] The steering system's job is to transmit the driver's desired direction of travel to the vehicle's wheels. Furthermore, a modern steering system has various comfort and safety requirements.

[0003] Depending on the vehicle weight and axle design, considerable steering forces can be required to steer a vehicle. To increase driving safety and comfort, a vehicle's steering system can be equipped with steering assistance. Steering assistance can be electromechanical, electrohydraulic, or hydraulic. Electromechanical steering assistance can generate a steering assist torque using an electric steering assist motor. Unfortunately, the electric steering assist motor adds weight to the vehicle and increases costs.

[0004] The object of the present invention is to at least partially remedy the disadvantages described above. In particular, the object of the present invention is to provide a method by which the movement-related holding of a vehicle for steering the vehicle can be carried out particularly easily. Furthermore, the object of the present invention is to provide a vehicle, in particular a steering system of a vehicle, which is particularly cost-effective and / or particularly space-saving and / or particularly lightweight.

[0005] The above object is achieved by a method having the features of claim 1, a vehicle having the features of claim 9, a computer program product having the features of claim 10, a computer-readable medium having the features of claim 11 and a data carrier signal having the features of claim 12. Further features and details of the invention emerge from the subclaims, the description and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the vehicle according to the invention and / or the computer program product and / or the computer-readable medium and / or the data carrier signal and vice versa, so that with regard to the disclosure, reciprocal reference is or can always be made to the individual aspects of the invention.

[0006] According to a first aspect, the present invention provides a method for the motion-technical holding of a vehicle for steering the vehicle, wherein the vehicle has an electric drive device with at least one first electric drive motor, wherein the at least one first electric drive motor is operatively connected to at least one first drive tire of the vehicle for moving the vehicle. The method comprises, as one step, transferring, in particular an automated transfer, the vehicle into a stationary motion state or into a near-stationary motion state.Furthermore, the method comprises as a step a control, in particular an automated control, of the electric drive device of the vehicle in the stationary movement state or in the near-stationary movement state of the vehicle in such a way that the vehicle is at least temporarily held in motion, in particular held along, by the electric drive device in the stationary movement state or in the near-stationary movement state, and wherein while the vehicle is held in motion by the electric drive device, the steering of the vehicle takes place, in particular takes place automatically, at least temporarily, by means of a steering system of the vehicle.

[0007] The process steps described above and below can, where technically feasible, be carried out individually, together, simply, multiple times, in parallel and / or consecutively in any order, and in particular the process steps can be carried out automatically where technically feasible.

[0008] The vehicle is in particular a motor vehicle, preferably a passenger car, a truck or a motorcycle, e.g. a motorbike. Furthermore, the vehicle can be designed to drive partially automated and / or highly automated and / or fully automated and / or autonomously. In particular, the vehicle comprises a plurality of vehicle tires, wherein the vehicle tires can be divided into steerable vehicle tires (by means of a steering system of the vehicle) and trailing vehicle tires, i.e. unsteered vehicle tires. Furthermore, the steerable vehicle tires (by means of a steering system) can be (actively) drivable and / or the trailing vehicle tires can be (actively) drivable. The (actively) drivable vehicle tires can also be understood as drive tires. E.g.An electric drive motor of the vehicle can be operatively connected to at least one first vehicle tire of the vehicle for moving the vehicle in order to actively drive the first vehicle tire.

[0009] The movement-related holding of the vehicle can also be understood as a movement-related immobilization of the vehicle, in particular as a movement-related immobilization of the vehicle at a spatial position or essentially at a spatial position.

[0010] In particular, the vehicle is stationary or essentially stationary in the stationary motion state. Advantageously, the steerable vehicle tires of the vehicle, which is held in motion by the electric drive device in the stationary motion state, can thus roll when the vehicle is steered. Thus, the vehicle can be held stably and safely at a standstill with the electric drive device, in particular at least with the at least one first electric drive motor, and the steering power of the vehicle's steering system can be made particularly low, or steering assistance can be omitted entirely. For example, a steering assistance electric motor of a steering assistance system, in particular an electromechanical or electrohydraulic steering assistance system, of the vehicle's steering system can be made particularly small, or steering assistance can be omitted entirely.Furthermore, the rolling of the steerable vehicle tires allows tire wear and / or disturbing acoustic effects to be kept to a minimum.

[0011] In the near-standstill state of motion, the vehicle is in motion, wherein the vehicle in particular has a maximum vehicle speed of 5 km / h, preferably a maximum vehicle speed of 3 km / h, very preferably a maximum vehicle speed of 1 km / h. Advantageously, when steering the vehicle, the steerable vehicle tires of the vehicle, which is held in motion by the electric drive device in the near-standstill state of motion, can therefore roll particularly advantageously. The vehicle can therefore be held stably and safely in the near-standstill state of motion with the electric drive device, in particular at least with the at least one first electric drive motor, wherein at the same time the steering power of the steering system of the vehicle can be designed to be particularly low, since, for example,This allows the electric motor for the steering assistance of the vehicle's steering system to be dimensioned particularly small, or steering assistance can be eliminated entirely. Furthermore, the advantageous rolling of the steerable vehicle tires enables tire wear and / or acoustic disturbances to be kept to a minimum.

[0012] The transition of the vehicle to a stationary motion state or a near-stationary motion state can be achieved, for example, by decelerating, i.e., braking, the vehicle. For example, a parked vehicle is transitioned to a stationary motion state.

[0013] The control of the electric drive device of the vehicle in the stationary movement state or in the near-stationary movement state of the vehicle in such a way that the vehicle is held in motion by the electric drive device can be carried out by a control device of the vehicle, and in particular the control of the electric drive device of the vehicle can be understood as a control or regulation of the electric drive device.

[0014] In particular, the vehicle is held or fixed in motion by the electric drive device in that the at least one first electric drive machine of the vehicle is electrically energized in such a way that the vehicle or the at least one first drive wheel of the vehicle is held or fixed, in particular is held or fixed in one position or substantially in one position. In other words, the at least one electric drive machine of the electric drive device of the vehicle can be controlled, in particular electrically energized, in the standstill motion state or in the near-standstill motion state of the vehicle in such a way that the vehicle or the at least one first drive wheel of the vehicle is or is held, in particular is or is actively held, by the at least one electric drive machine of the electric drive device.

[0015] In addition to the at least one first electric drive motor, the electric drive device of the vehicle can have at least one further electric drive motor, for example a second electric drive motor, for moving the vehicle, wherein in particular the second electric drive motor is operatively connected in terms of drive technology to at least one second drive tire of the vehicle for moving the vehicle.It is conceivable that the at least one first electric drive motor and the second electric drive motor of the electric drive device of the vehicle are controlled in the stationary motion state or in the near-stationary motion state of the vehicle in such a way that the vehicle is held in motion in the stationary motion state or in the near-stationary motion state by the electric drive device, in particular at least by the first electric drive motor and the second electric drive motor. Features, details, advantages, and / or statements regarding the at least one electric drive motor can also be transferred to the at least one further electric drive motor and / or the second electric drive motor, and vice versa.

[0016] The (at least a first) electric drive machine can also be understood as an electric motor.

[0017] Furthermore, the control device of the vehicle can additionally be designed to control, in particular to control or regulate, the steering system of the vehicle for steering the vehicle. The steering system of the vehicle is designed, in particular, to influence a direction of travel of the vehicle, in particular by influencing a respective position of the steered vehicle tires of the vehicle. The steering system of the vehicle can have a steering assistance system, in particular an electromechanical and / or an electrohydraulic steering assistance system with a steering assistance electric motor for generating a steering assistance torque and / or a hydraulic steering assistance system.

[0018] Steering the vehicle can be understood as steering at least one vehicle tire of the vehicle, in particular as (respective) steering of the (two) front wheels of the vehicle.

[0019] It can be advantageous in a method according to the invention that the vehicle further comprises a service brake system, in particular a mechanical service brake system, wherein the service brake system is designed to act in a movement-technically decelerating manner on several vehicle tires, in particular all vehicle tires, of the vehicle, wherein the electric drive device and the service brake system of the vehicle are at least temporarily controlled in the standstill movement state or in the near-standstill movement state of the vehicle in such a way that the vehicle is held in the standstill movement state or in the near-standstill movement state by the electric drive device and by the service brake system,and wherein, while the vehicle is held in motion by the electric drive device and the service brake system, the vehicle is at least temporarily steered by means of a steering system of the vehicle. In other words,The vehicle is held by the electric drive device or by the service brake system. Advantageously, the steerable vehicle tires of the vehicle can thus roll particularly advantageously when steering the vehicle. The vehicle can thus be held stably and safely at a standstill, and the steering power of the vehicle's steering system can be designed to be particularly low, or steering assistance can be omitted entirely. For example, a steering assistance electric motor of a steering assistance system of the vehicle's steering system can be dimensioned particularly small, or steering assistance can be omitted entirely. In particular, the service brake system is a mechanical or mechanically acting service brake system, wherein preferably the mechanical or mechanically acting service brake system of the vehicle has a wheel brake for each vehicle tire of the vehicle, wherein in particular each wheel brake has a brake caliper,a brake pad and a brake disc. It is conceivable that the vehicle is held in motion by the electric drive device and by the service brake system in such a way that a drive device holding component for holding the vehicle in motion by the electric drive device is at least temporarily at least 10%, preferably at least 50%, very preferably at least 80%, and the service brake system provides the remaining component (service brake system holding component) for holding the vehicle in motion. It can be advantageous in a method according to the invention for the vehicle to be held in motion by the electric drive device and by the service brake system in such a way thatthat a drive device holding component for the movement-related holding of the vehicle by the electric drive device is at least temporarily greater than a service brake system holding component for the movement-related holding of the vehicle by the service brake system. Thus, the steerable vehicle tires of the vehicle can be held in motion primarily by the electric drive device, and the rolling of the steerable vehicle tires can be achieved particularly advantageously.

[0020] It can be advantageous in a method according to the invention that the vehicle, in particular a service brake system of the vehicle, and the electric drive device of the vehicle are at least temporarily controlled in the stationary state of motion or in the near-stationary state of motion of the vehicle in such a way that the vehicle is held in motion in the stationary state of motion or in the near-stationary state of motion only by the electric drive device, and wherein, while the vehicle is held in motion by the electric drive device, the vehicle is at least temporarily steered by means of a steering system of the vehicle. In other words, the vehicle is held in motion without braking intervention by the service brake system of the vehicle, i.e. purely by the electric drive device.Thus, the vehicle can be held stably and safely at a standstill using only the electric drive device, in particular only the at least one first electric drive motor of the electric drive device. The steering power of the vehicle's steering system can be designed to be particularly low, or steering assistance can be eliminated entirely. For example, a steering assistance electric motor of a steering assistance system of the vehicle's steering system can be designed to be particularly small, or steering assistance can be eliminated entirely. Furthermore, tire wear and / or disturbing acoustic effects can be minimized by enabling the steerable vehicle tires to roll.

[0021] It can be advantageous in a method according to the invention that while the vehicle is held in motion by the electric drive device, in particular only by the electric drive device, the steering of the vehicle takes place completely, in particular completely in time. In other words, the vehicle in the stationary motion state or in the near-stationary motion state is steered, in particular only steered, when the vehicle is at least (partially) held in motion by the electric drive device. This ensures that the steering performance of the vehicle's steering system is always sufficient.

[0022] It can be advantageous in a method according to the invention that it is detected or anticipated that the steering of the vehicle will take place in the standstill motion state or in the near-standstill motion state, wherein in particular, if it has been detected or anticipated that the steering of the vehicle will take place in the standstill motion state or in the near-standstill motion state, then the electric drive device of the vehicle is controlled in such a way that the vehicle is held in motion in the standstill motion state or in the near-standstill motion state by the electric drive device, in particular only by the electric drive device, for the steering of the vehicle.In an autonomous vehicle, the vehicle itself assumes (all) driving functions, so that the electric drive device of the vehicle can always be controlled in the stationary state of motion or in the near-stationary state of motion of the vehicle in such a way that the vehicle is held in motion in the stationary state of motion or in the near-stationary state of motion by the electric drive device, in particular only by the electric drive device, and wherein while the vehicle is held in motion by the electric drive device, the steering of the vehicle is carried out at least temporarily by means of the steering system of the vehicle. This can ensure that the steering performance of the steering system of the vehicle is always sufficient. It is also conceivable that when the vehicle is started or when a driver assistance system (e.g.Parking maneuver assistant) the vehicle, in particular the vehicle's control device, recognizes, e.g. through a vehicle signal, that the vehicle will be steered in the stationary motion state, e.g. in order to park the vehicle.

[0023] It can be advantageous in a method according to the invention that, after the vehicle's steering is completed, at least the vehicle's electric drive system is controlled in such a way that the vehicle can be moved forward. In other words, the vehicle is "released" again after the vehicle's steering is completed. Alternatively, the vehicle can be transferred to a service brake system of the vehicle to ensure a standstill after the vehicle's steering is completed.

[0024] In a method according to the invention, it can be advantageous for the movement-related holding of the vehicle to be used for steering the vehicle for at least one parking maneuver and / or a maneuvering maneuver as a driving maneuver of the vehicle. The parking maneuver can be a parking maneuver or a parking maneuver exit.

[0025] According to a second aspect, the present invention provides a vehicle, wherein the vehicle has at least one drive tire as a vehicle tire of the vehicle. Furthermore, the vehicle comprises a service brake system, wherein the service brake system is designed to exert a decelerating effect on a plurality of vehicle tires, in particular on all vehicle tires, of the vehicle. Furthermore, the vehicle comprises an electric drive device having at least one first electric drive motor, wherein the at least one first electric drive motor is operatively connected to the at least one first drive tire of the vehicle for propelling the vehicle.The vehicle further comprises a control device, wherein the control device is designed to control at least the electric drive device and the service brake system of the vehicle in a stationary motion state or in a near-stationary motion state of the vehicle in such a way that the vehicle is held, in particular held, in the stationary motion state or in the near-stationary motion state at least by the electric drive device, and wherein the vehicle is designed to carry out a method according to the invention, in particular according to one of the aspects of the invention. Preferably, the vehicle is held in motion in the stationary motion state or in the near-stationary motion state only by the electric drive device.

[0026] For example, the electric drive device comprises only the at least one first electric drive machine for moving the vehicle, wherein the at least one first electric drive machine is operatively connected in terms of drive technology to the at least one first drive tire of a first vehicle axle of the vehicle and to a second drive tire of the first vehicle axle of the vehicle for moving the vehicle, so that the vehicle can be held in terms of movement in the standstill movement state or in the near-standstill movement state of the vehicle by controlling the at least one first electric drive machine of the vehicle operatively via the first drive tire and the second drive tire.

[0027] The control device of the vehicle is, in particular, a control device or control unit of the vehicle. Furthermore, the control device of the vehicle can additionally be designed to control, in particular to control or regulate, the steering system of the vehicle for steering the vehicle.

[0028] The vehicle according to the second aspect of the invention thus has the same advantages as those already described for the method according to the first aspect of the invention.

[0029] According to further aspects, the present invention shows a computer program product, a computer-readable medium and a data carrier signal, wherein the computer program product, the computer-readable medium and the data carrier signal have the same advantages as have already been described for the method according to the first aspect of the invention or the vehicle according to the second aspect of the invention or the computer program product or the computer-readable medium or the data carrier signal according to the further aspects of the invention.

[0030] The computer program product comprises commands, in particular instructions, wherein the commands, in particular instructions, cause a vehicle according to the invention to execute a method according to the invention. The computer program product can be implemented as computer-readable instruction code in any suitable programming language, such as JAVA, C++, etc., wherein, in particular, the instruction code of the computer program product can program a computer or other programmable devices, such as a control device of a vehicle according to the invention, such that the desired functions are executed.

[0031] The computer program product can be implemented either by means of an instruction code, i.e. a software (computer program), or by means of one or more special electronic circuits, i.e. in hardware, or in any hybrid form, i.e. by means of software components and hardware components.

[0032] The computer program product is implemented or stored, in particular, on the vehicle's control device. The computer program product can be stored on a computer-readable storage medium, e.g., a volatile or non-volatile memory and / or a processor of the control device.

[0033] Furthermore, the computer program product can be provided in a network such as the Internet, from which it can be downloaded by a user as needed, wherein, in particular, when downloading the computer program product, the data carrier signal transmits the computer program product according to the invention.

[0034] Further measures improving the invention will become apparent from the following description of some exemplary embodiments of the invention, which are schematically illustrated in the figures. All features and / or advantages apparent from the claims, the description, or the drawings, including design details, spatial arrangements, and method steps, may be essential to the invention both individually and in various combinations. It should be noted that the figures are merely descriptive and are not intended to limit the invention in any way.

[0035] They show schematically: Fig. 1 a procedure, and Fig. 2 a vehicle.

[0036] In the following figures, identical reference numerals are used for the same technical features, even in different embodiments.

[0037] Fig. 1 schematically discloses a method for the movement-technical holding of a vehicle (100) for steering the vehicle (100), for example during a parking maneuver and / or shunting maneuver, wherein the vehicle (100) is, for example, as to Fig. 2. The vehicle (100) can be, for example, a passenger car. The vehicle (100) comprises at least one electric drive device (20) with at least one first electric drive motor (21), wherein the at least one first electric drive motor (21) is operatively connected in a driving manner to a first drive tire (11) of a front axle and to a second drive tire (12) of the front axle of the vehicle (100) for moving the vehicle (100) via a shaft (25), a first front drive shaft (26), a second front drive shaft (27), and a transmission (28). The first drive tire (11) and the second drive tire (12) form the front wheels of the vehicle. The method comprises, as a first step, transferring (320) the vehicle (100) into a stationary motion state or into a near-stationary motion state.Furthermore, the method comprises, as a subsequent step, controlling (340) the electric drive device (20) of the vehicle (100) in the stationary movement state or in the near-stationary movement state of the vehicle (100) in such a way that the vehicle (100) is held in motion in the stationary movement state or in the near-stationary movement state by the electric drive device (20) or by the at least one first electric drive machine (21), and wherein, while the vehicle (100) is held in motion by the electric drive device (20) in the stationary movement state or in the near-stationary movement state, the steering (360) of the front wheels of the vehicle (100) takes place at least temporarily by means of a steering system (not shown) of the vehicle (100).

[0038] It can be in the Fig. 1, it may be advantageous that the vehicle (100) further comprises a service brake system (30), wherein the service brake system (30) is designed to have a decelerating effect on all vehicle tires (11, 12, 13, 14) of the vehicle (100), ie on the front tires (11, 12) and the rear tires (13, 14).The electric drive device (20) and the service brake system (30) of the vehicle (100) can be controlled (341) at least temporarily in the stationary movement state or in the near-stationary movement state of the vehicle (100) in such a way that the vehicle (100) is held in motion by the electric drive device (20) and by the service brake system (30) in the stationary movement state or in the near-stationary movement state, and wherein, while the vehicle (100) is held in motion by the electric drive device (20) and by the service brake system (30), the steering (360) of the front wheels (11, 12) of the vehicle (100) is carried out at least temporarily by means of a steering system of the vehicle (100).

[0039] It can be in the Fig. 1, it may further be advantageous that the vehicle (100), in particular the service brake system (30) of the vehicle, and the electric drive device (20) of the vehicle (100) are at least temporarily controlled (342) in the stationary movement state or in the near-stationary movement state of the vehicle (100) in such a way that the vehicle (100) is held in motion in the stationary movement state or in the near-stationary movement state only by the electric drive device (20), and wherein while the vehicle (100) is held in motion by the electric drive device (20), the steering (360) of the front wheels (11, 12) of the vehicle (100) is carried out at least temporarily by means of a steering system of the vehicle (100).

[0040] It can be in the Fig. 1, it can be advantageous that, while the vehicle (100) is held in motion by the electric drive device (20), the steering (360) of the front wheels (11, 12) of the vehicle (100) takes place completely in time and / or that it is recognized or anticipated (330) that the steering of the front wheels (11, 12) of the vehicle (100) will take place in the stationary motion state or in the near-stationary motion state and / or that after the steering (360) of the vehicle (100) has been completed, at least the electric drive device (20) of the vehicle (100) is controlled (370) in such a way that the vehicle (100) can be moved forward.

[0041] Fig. 2 discloses a vehicle (100) as it has already been described in particular Fig. 1, wherein the vehicle (100) has a vehicle longitudinal axis (105). Furthermore, the vehicle (100) comprises a control device (50), wherein the control device (50) is designed to control at least the electric drive device (20) or the at least one first electric drive machine (21) and the service brake system (30) of the vehicle (100) in a stationary movement state or in a movement state close to a standstill of the vehicle (100) in such a way that the vehicle (100) is held in motion by the electric drive device (20) or by the at least one first electric drive machine (21) in the stationary movement state or in the movement state close to a standstill.is maintained, so that while the vehicle (100) is held in motion by the electric drive device (20), the steering (360) of the front wheels of the vehicle (100) takes place or can take place at least temporarily by means of a steering system of the vehicle (100). In particular, the service brake system (30) is a mechanical or mechanically acting service brake system (30), wherein the mechanical or mechanically acting service brake system (30) of the vehicle (100) preferably has a wheel brake for each vehicle tire (11, 12, 13, 14) of the vehicle (100) (see . Fig. 2) List of reference symbols 11, 12 Drive tires (vehicle tires, front tires) 13, 14 vehicle tires 20 electric drive device 21 first electric drive machine 25 Wave 26 first front drive shaft 27 second front drive shaft 28 gearboxes 30 Service brake system 50 Control device 100 vehicles 105 Vehicle longitudinal axis 320 Transferring the vehicle to a state of standstill or a state of near standstill 330 Recognizing or anticipating that the vehicle will be steered in the stationary state of motion or in the near-stationary state of motion 340, 341, 342 Controlling the electric drive device in such a way that the vehicle is held in motion by the electric drive device 360 steering of the vehicle 370 Checking the electric drive device in such a way that the vehicle can be moved

Claims

[1] Method for the movement-technical holding of a vehicle (100) for steering the vehicle (100), wherein the vehicle (100) has an electric drive device (20) with at least one first electric drive machine (21), wherein the at least one first electric drive machine (21) is drive-technically connected to at least one first drive tire (11, 12) of the vehicle (100) for moving the vehicle (100), and wherein the method comprises: - transferring (320) the vehicle (100) into a stationary motion state or into a near-stationary motion state, - Controlling (340) the electric drive device (20) of the vehicle (100) in the stationary movement state or in the near-stationary movement state of the vehicle (100) in such a way that the vehicle (100) is held in motion by the electric drive device (20) in the stationary movement state or in the near-stationary movement state, and wherein, while the vehicle (100) is held in motion by the electric drive device (20), the steering (360) of the vehicle (100) takes place at least temporarily by means of a steering system of the vehicle (100). [2] Method according to claim 1, characterized bythat the vehicle (100) further comprises a service brake system (30), wherein the service brake system (30) is designed to have a decelerating effect on at least several vehicle tires (11, 12, 13, 14) of the vehicle (100), wherein the electric drive device (20) and the service brake system (30) of the vehicle (100) are at least temporarily controlled (341) in the stationary state of movement or in the near-stationary state of movement of the vehicle (100) in such a way that the vehicle (100) is held in motion by the electric drive device (20) and by the service brake system (30), and wherein, while the vehicle (100) is held in motion by the electric drive device (20) and by the service brake system (30), at least temporarily the steering (360) of the vehicle (100) by means of a steering system of the vehicle (100). [3] Method according to claim 2, characterized by that the vehicle (100) is held in motion by the electric drive device (20) and by the service brake system (30) in such a way that a drive device holding portion for holding the vehicle (100) in motion by the electric drive device (20) is at least temporarily greater than a service brake system holding portion for holding the vehicle (100) in motion by the service brake system (30). [4] Method according to one of the preceding claims, characterized bythat the vehicle (100) and the electric drive device (20) of the vehicle (100) in the stationary movement state or in the near-stationary movement state of the vehicle (100) are at least temporarily controlled (342) in such a way that the vehicle (100) in the stationary movement state or in the near-stationary movement state is held in motion only by the electric drive device (20), and wherein while the vehicle (100) is held in motion by the electric drive device (20), the steering (360) of the vehicle (100) is carried out at least temporarily by means of a steering system of the vehicle (100). [5] Method according to one of the preceding claims, characterized by that while the vehicle (100) is held in motion by the electric drive device (20), the steering (360) of the vehicle (100) is carried out completely. [6] Method according to one of the preceding claims, characterized by that it is recognized or anticipated (330) that the steering of the vehicle (100) will take place in the standstill motion state or in the near-standstill motion state. [7] Method according to one of the preceding claims, characterized by that after completion of the steering (360) of the vehicle (100), at least the electric drive device (20) of the vehicle (100) is controlled (370) in such a way that the vehicle (100) can be moved forward. [8] Method according to one of the preceding claims, characterized by that the movement-technical holding of the vehicle (100) for the steering of the vehicle (100) is for at least one of the following driving maneuvers of the vehicle (100): - Parking maneuvers, and / or - shunting maneuvers. [9] Vehicle (100), the vehicle (100) comprising: - at least one drive tire (11, 12) as a vehicle tire (11, 12, 13, 14) of the vehicle (100), - a service brake system (30), wherein the service brake system (30) is designed to have a decelerating effect on all vehicle tyres (11, 12, 13, 14) of the vehicle (100), - an electric drive device (20) with at least one first electric drive motor (21), wherein the at least one first electric drive motor (21) is operatively connected to the at least one first drive tire (11, 12) of the vehicle (100) for moving the vehicle (100), - a control device (50), wherein the control device (50) is designed to control at least the electric drive device (20) and the service brake system (30) of the vehicle (100) in a stationary movement state or in a near-stationary movement state of the vehicle (100) in such a way that the vehicle (100) is held in motion by the electric drive device (20) in the stationary movement state or in the near-stationary movement state, and wherein the vehicle (100) is designed to carry out a method according to one of the preceding claims. [10] A computer program product, the computer program product comprising instructions, the instructions causing a vehicle (100) according to claim 9 to execute a method according to any one of claims 1 to 8. [11] A computer-readable medium, wherein the computer-readable medium has stored thereon the computer program product according to claim 10. [12] A data carrier signal, the data carrier signal transmitting the computer program product according to claim 10.

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