DEVICE AND METHOD FOR PREVENTING A PARKED VEHICLE TO ROLL AWAY

Description

[0001] The present invention relates to a device and a method for preventing a parked vehicle, in particular an electric or hybrid vehicle, from rolling away, and to a vehicle comprising the device.

[0002] The locking device conventionally used in vehicles, designed as a mechanical parking brake or handbrake, which is intended to permanently block one or more wheels of the vehicle in a parked state in order to prevent the parked vehicle from rolling away, is frequently replaced, particularly in electric and hybrid vehicles, by a parking brake or handbrake that can be activated by electronic control.

[0003] To prevent the vehicle from rolling away in the event of a malfunction of the electronically activated parking brake, two electronically activated parking brakes are often installed in a vehicle, with one of these serving as a redundant parking brake. In vehicles with an automatic transmission, for example, one of the two electronically activated parking brakes can be replaced by an electronically activated parking lock.

[0004] DE 10 2020 202 167 A1 discloses a vehicle combination with a trailer having its own electric drive and an electric energy storage device, and with a towing vehicle that can be coupled to the trailer by means of a coupling device, wherein the drive system has at least one self-locking electric motor that can be controlled by a control device and with which at least one trailer wheel can be driven directly or indirectly. The control device has an activatable control unit as a drive control unit for a function "electric drive" and a control unit that can be activated separately from the drive control unit as a mover control unit for a function "electric shunting drive".The vehicle combination features a coupling detection device which, upon detecting coupling between the trailer and towing vehicle, sends a coupling signal to the control unit. The driving control unit can only be activated when this coupling signal is present. Furthermore, the mover control unit can only be activated if the trailer is uncoupled and no coupling signal is present, thus preventing activation of the driving control unit.

[0005] DE 10 2017 005 881 A1 discloses a braking system for an electric or hybrid vehicle, which has at least two drive wheels and at least two steerable wheels, at least two of which can be driven by at least one electric motor capable of both electric motor and generator operation, and which has a fluidic braking device that can apply braking force to at least two wheels by means of brake actuators. The fluidic braking device has only one brake circuit, which is connected to the brake actuators on all wheels, wherein the at least one electric motor is designed and can be operated in such a way that it can be actuated as an emergency service brake in the event of a malfunction in the fluidic braking device, and wherein the fluidic braking device and the at least one electric motor are designed in such a way that they can bring the electric or hybrid vehicle to a standstill.

[0006] One object of an embodiment of the present invention is to improve a device and a method for preventing a parked vehicle from rolling away.

[0007] This problem is solved by a device for preventing a parked vehicle from rolling away, having the features of claim 1. Claims 11 to 19 describe a method, and claim 10 describes a vehicle under protection.

[0008] According to one embodiment of the present invention, a device for preventing a parked vehicle, in particular an electric or hybrid vehicle, from rolling away comprises an electronically activated locking device for blocking the movement of the vehicle, a detection device configured to determine whether the vehicle is moving or not, and a control device configured to determine whether the locking device has been activated or not, and, if the locking device has been activated, to cause the detection device to determine whether the vehicle is moving or not, and, if the detection device determines that the vehicle is moving, to control an electric motor of the vehicle to drive the vehicle in order to stop the movement of the vehicle and to maintain the stopped state of the vehicle.

[0009] This allows a single vehicle configuration to be equipped with only one locking device to prevent the vehicle's movement, such as an electronically activated parking brake or parking lock. This is because, in the event of a malfunction of the single locking device—detected by vehicle movement when the device is activated—the electric motor is activated to propel the vehicle, preventing it from rolling away despite the malfunction. This eliminates the need for a second, redundant locking device and reduces the integration effort for a system designed to prevent a parked vehicle from rolling away.

[0010] In one embodiment, the device further comprises a storage device and an output device, wherein the control device is configured to store information about a fault in the storage device and to output it via the output device when the blocking device has been activated and the detection device determines that the vehicle is moving.

[0011] The output device can, for example, be designed as a display device that outputs information about the fact that the blocking device has a fault and, if necessary, a notification to the user that the blocking device needs to be repaired.

[0012] This ensures that, in one version, the user is informed of a malfunction of the blocking device and can take appropriate measures to repair the blocking device.

[0013] In one embodiment, the control unit includes an electric motor control unit and is configured to activate the electric motor control unit when the locking device has been activated, wherein the electric motor control unit is configured to control the electric motor to stop the movement of the vehicle and to maintain the stopped state of the vehicle when the detection unit determines that the vehicle is moving.

[0014] In one version, this ensures that the electric motor control unit is activated to stop the vehicle's movement if necessary and to maintain the vehicle's stop state when the vehicle is parked, thus reliably preventing the parked vehicle from rolling away.

[0015] According to one design, the control unit is configured to deactivate the electric motor control unit when the detection unit determines that the vehicle is not moving.

[0016] This allows energy to be saved in one version that would be required to operate the electric motor control unit if the detection device determines that the vehicle is not moving.

[0017] According to one design, the control unit is configured, after deactivation of the electric motor control unit, to cause the detection unit to continuously determine whether the vehicle is moving or not, and, if the detection unit determines that the vehicle is moving, to activate the electric motor control unit to control the electric motor in order to stop the movement of the vehicle and maintain the stopped state of the vehicle.

[0018] In one version, this prevents the parked vehicle from rolling away due to a malfunction of the locking device, which only occurs after the electric motor control unit has been deactivated.

[0019] According to one embodiment, the detection device is designed to detect the rotational position of a rotor of the electric motor and / or the rotational speed of a wheel of the vehicle, and to determine that the vehicle is moving when the rotational position of the rotor of the electric motor changes or the rotational speed of the wheel is not zero.

[0020] This allows for a reliable determination of whether the vehicle is moving or not in one configuration.

[0021] According to one definition, the locking device is a parking lock that can be activated by electronic control to block an output shaft of the electric motor, or a parking lock that can be activated by electronic control to block a transmission of the vehicle, or a parking brake that can be activated by electronic control to block at least one wheel of the vehicle.

[0022] The respective locking device can be activated automatically, for example when the selector lever of an automatic transmission is placed in the park position, and / or manually by the user using a corresponding operating device.

[0023] In one version, this ensures that, in the case of a functioning locking device, the locking device prevents the parked vehicle from rolling away.

[0024] After execution, the control unit is configured to determine, based on the position of an actuator of the blocking device, whether the blocking device has been activated or not.

[0025] According to one design, the control device is configured to regulate the torque of the electric motor in order to stop the movement of the vehicle and maintain the vehicle's stopped state.

[0026] In this process, the torque of the electric motor is regulated, in particular, to a value at which the (rotational) position or angle of rotation of the rotor does not change or remains constant.

[0027] In one version, this can prevent the parked vehicle from rolling away by adjusting the appropriate torque of the electric motor.

[0028] According to one embodiment of the present invention, a vehicle, in particular an electric or hybrid vehicle, has a device as described above for preventing a parked vehicle, in particular an electric or hybrid vehicle, from rolling away.

[0029] According to one embodiment of the present invention, a method for preventing a parked vehicle, in particular an electric or hybrid vehicle, from rolling away comprises determining, by means of a control unit, whether a locking device for blocking movement of the vehicle, which can be activated by electronic control, has been activated or not; causing, by means of the control unit, a detection device to determine, if it has been determined by means of the control unit that the locking device has been activated, whether the vehicle is moving or not; and controlling, by means of the control unit, an electric motor of the vehicle to drive the vehicle in order to stop the movement of the vehicle and to maintain the stopped state of the vehicle if the detection device determines that the vehicle is moving.

[0030] This allows a single vehicle configuration to be equipped with only one locking device to prevent the vehicle's movement, such as an electronically activated parking brake or parking lock. This is because, in the event of a malfunction of the single locking device—detected by vehicle movement when the device is activated—the electric motor is activated to propel the vehicle, preventing it from rolling away despite the malfunction. This eliminates the need for a second, redundant locking device and reduces the integration effort for a system designed to prevent a parked vehicle from rolling away.

[0031] According to one execution, the procedure further comprises storing, by means of the control unit, information that the locking device has a fault in a storage device, and causing, by means of the control unit, an output device to output the information that the locking device has a fault when the locking device has been activated and it has been determined by means of the detection device that the vehicle is moving.

[0032] The output device can, for example, be designed as a display device that outputs information about the fact that the blocking device has a fault and, if necessary, a notification to the user that the blocking device needs to be repaired.

[0033] This ensures that, in one version, the user is informed of a malfunction of the blocking device and can take appropriate measures to repair the blocking device.

[0034] According to one execution of the procedure, the control device includes an electric motor control device, wherein the control device activates the electric motor control device when the locking device has been activated, and the procedure further includes controlling the electric motor by means of the electric motor control device in order to stop the movement of the vehicle and maintain the stop state of the vehicle when the detection device determines that the vehicle is moving.

[0035] In one version, this ensures that the electric motor control unit is activated to stop the vehicle's movement if necessary and to maintain the vehicle's stop state when the vehicle is parked, thus reliably preventing the parked vehicle from rolling away.

[0036] According to one version, the procedure further includes deactivation by means of the control unit, the electric motor control unit, when it is determined by means of the detection device that the vehicle is not moving.

[0037] This allows energy to be saved in one version that would be required to operate the electric motor control unit if the detection device determines that the vehicle is not moving.

[0038] According to one embodiment, the method further includes causing, after deactivation of the electric motor control device, the control device to continuously determine whether the vehicle is moving or not, and, if the control device determines that the vehicle is moving, activating the electric motor control device by the control device in order to control the electric motor in order to stop the movement of the vehicle and maintain the stopped state of the vehicle.

[0039] In one version, this prevents the parked vehicle from rolling away due to a malfunction of the locking device, which only occurs after the electric motor control unit has been deactivated.

[0040] According to one embodiment of the procedure, determining whether the vehicle is moving or not using the detection device involves detecting the rotational position of a rotor of the electric motor and / or detecting the rotational speed of a wheel of the vehicle, whereby the detection device determines that the vehicle is moving if the rotational position of the rotor of the electric motor changes or the rotational speed of the wheel is not zero.

[0041] This allows for a reliable determination of whether the vehicle is moving or not in one configuration.

[0042] According to one embodiment of the method, the blocking device is a parking lock that can be activated by electronic control to block an output shaft of the electric motor, or a parking lock that can be activated by electronic control to block a transmission of the vehicle, or a parking brake that can be activated by electronic control to block at least one wheel of the vehicle.

[0043] The respective locking device can be activated automatically, for example when the selector lever of an automatic transmission is placed in the park position, and / or manually by the user using a corresponding operating device.

[0044] In one version, this ensures that, in the case of a functioning locking device, the locking device prevents the parked vehicle from rolling away.

[0045] After the procedure has been executed, the control unit determines, based on the position of an actuator of the blocking device, whether the blocking device has been activated or not.

[0046] After the procedure has been executed, the control unit regulates the torque of the electric motor in order to stop the movement of the vehicle and maintain the vehicle's stopped state.

[0047] In this process, the torque of the electric motor is regulated, in particular, to a value at which the (rotational) position or angle of rotation of the rotor does not change or remains constant.

[0048] In one version, this can prevent the parked vehicle from rolling away by adjusting the appropriate torque of the electric motor.

[0049] Further advantages and features will become apparent from the dependent claims and the exemplary embodiments. These are shown, in part schematically: Fig. 1 shows a vehicle with a device for preventing a parked vehicle from rolling away according to an embodiment of the present invention, and Fig. 2 shows a flowchart illustrating a method for preventing a parked vehicle from rolling away according to an embodiment of the present invention.

[0050] Fig. 1 Figure 1 shows a vehicle 100 with a device for preventing a parked vehicle 100 from rolling away according to an embodiment of the present invention.

[0051] The vehicle 100, preferably designed as an electric or hybrid vehicle, has an electric motor 102 for propelling the vehicle 100. An output shaft 103 of the electric motor 102, which is rotationally fixed to a rotor of the electric motor 102, serves as the input shaft of a transmission 105, preferably an automatic transmission, of the vehicle 100 or is connected to an input shaft of the transmission 105. A gear ratio, that is, a ratio between the rotational speed of the output shaft 103 of the electric motor 102 and the rotational speed of an output shaft 106 of the transmission 105, can be set by means of the transmission 105, preferably continuously. The output shaft 106 of the transmission 105 is connected via an axle 104 to wheels 101 of the vehicle 100 mounted thereon, in order to drive them by means of the electric motor 102.

[0052] In an embodiment not shown, the output shaft 103 of the electric motor 102 can also be connected to the wheels 101 without the interposition of a gearbox in order to drive them.

[0053] To prevent the vehicle 100 from rolling away when parked, the device for preventing a parked vehicle 100 from rolling away includes a, preferably a single, locking device 110, 111, 112. The locking device 110, 111, 112 can, for example, be configured as an electronically activated parking lock 111 to block the output shaft 103 of the electric motor 102, or as an electronically activated parking lock 112 to block the transmission 105, for example, a differential gear thereof, of the vehicle 100, or as an electronically activated parking brake 110 to block at least one wheel 101 of the vehicle 100.

[0054] To activate the respective locking device 110, 111, 112, an actuating device 16, for example designed as a switch, can be provided, which is electrically connected to an actuator of the corresponding locking device 110, 111, 112. When the actuating device 16 is actuated by a user, an electrical signal is sent to the locking device 110, 111, 112 or its actuator to activate the locking device 110, 111, 112. Additionally or alternatively, the respective locking device 110, 111, 112 can also be activated automatically, for example, when the selector lever of a transmission 105 designed as an automatic transmission is moved to the park position, controlled by a control unit 10.

[0055] The device for preventing a parked vehicle 100 from rolling away further comprises a detection device 15, which is configured to determine whether the vehicle 100 is moving or not. For example, the detection device 15 may be configured to detect the rotational position of a rotor of the electric motor 102 and / or to detect the rotational speed of a wheel 101 of the vehicle 100, and to determine that the vehicle 100 is moving if the rotational position of the rotor of the electric motor 102 changes or the rotational speed of the wheel 101 is not zero.

[0056] The control unit 10 is further configured to determine whether the blocking device 110, 111, 112 has been activated or not. For this purpose, the control unit 10 can, for example, be configured to determine, based on the position (actuated position or non-actuated position) of the actuator of the blocking device 110, 111, 112, whether the blocking device 110, 111, 112 has been activated or not.

[0057] The control unit 10 is configured to cause the detection unit 15 to determine whether the vehicle 100 is moving or not, if the control unit 10 has previously determined that the blocking device 110, 111, 112 has been activated.

[0058] When the detection device 15 determines that the vehicle 100 is moving, the control device 10 is configured to activate the electric motor 102 of the vehicle 100 to drive the vehicle 100 in order to stop the movement of the vehicle 100 and maintain its stationary state. For this purpose, the control device 10 is preferably configured to regulate the torque of the electric motor 102 to stop the movement of the vehicle 100 and maintain its stationary state. The torque of the electric motor 102 is preferably regulated to a value at which the (rotational) position or angle of rotation of the rotor does not change or remains constant.

[0059] The device for preventing a parked vehicle 100 from rolling away further comprises a storage device 12 and an output device 14, wherein the control device 10 is configured to store information in the storage device 12 indicating that the locking device 110, 111, 112 has a fault and to output this information via the output device 14 when the locking device 110, 111, 112 has been activated and the detection device 15 detects that the vehicle 100 is moving. The output device 14 can, for example, be configured as a display device that shows the information indicating that the locking device 110, 111, 112 has a fault and, if applicable, a notification to the user that the locking device 110, 111, 112 needs to be repaired.

[0060] Preferably, the control unit 10 includes an electric motor control unit 11 and is configured to activate the electric motor control unit 11 when the locking device 110, 111, 112 has been activated. In this case, the electric motor control unit 11 is configured to control the electric motor 102, in particular to regulate the torque of the electric motor 102, in order to stop the movement of the vehicle 100 and to maintain the stopped state of the vehicle 100 when the detection device 15 detects that the vehicle 100 is moving.Furthermore, the control unit 10 is configured to deactivate the electric motor control unit 11 when the detection unit 15 determines that the vehicle 100 is not moving, and after deactivating the electric motor control unit 11, to cause the detection unit 15 to continuously determine whether the vehicle 100 is moving or not, and, if the detection unit 15 determines that the vehicle 100 is moving, to activate the electric motor control unit 11 to control the electric motor 102 in order to stop the movement of the vehicle 100 and to maintain the stopped state of the vehicle 100.

[0061] Fig. 2 Figure 1 shows a flowchart illustrating a method for preventing a parked vehicle from rolling away according to one embodiment of the present invention.

[0062] In step S1, the control unit 10 determines whether a locking device 110, 111, 112, which can be activated electronically, has been activated to block the movement of the vehicle 100. The locking device 110, 111, 112 can be the electronically activated parking lock 111 for blocking the output shaft 103 of the electric motor 102, the electronically activated parking lock 112 for blocking the transmission 105 of the vehicle 100, or the electronically activated parking brake 110 for blocking at least one wheel 101 of the vehicle 100. Furthermore, the control unit 10 can determine whether the locking device 110, 111, 112 has been activated based on the position of an actuator of the locking device 110, 111, 112.

[0063] In step S2, the control unit 10 is used to initiate a detection device 15 to determine whether the vehicle 100 is moving or not, if the control unit 10 has determined that the locking device 110, 111, 112 has been activated. The determination by the detection device 15 as to whether the vehicle 100 is moving or not can involve detecting the rotational position of a rotor of the electric motor 102 and / or detecting the rotational speed of a wheel 101 of the vehicle 100. The detection device 15 determines that the vehicle 100 is moving if the rotational position of the rotor of the electric motor 102 changes or the rotational speed of the wheel 101 is not zero.

[0064] In step S3, the electric motor 102 of the vehicle 100 is activated by the control unit 10 to drive the vehicle 100 in order to stop the movement of the vehicle 100 and maintain the stopped state of the vehicle 100 when the detection device 15 determines that the vehicle 100 is moving. The torque of the electric motor 102 can be regulated by the control unit 10 to stop the movement of the vehicle 100 and maintain the stopped state of the vehicle 100.

[0065] In an optional step S4, the control unit 10 stores information that the locking device 110, 111, 112 has a fault in a storage device 12, and the control unit 10 causes an output device 14, for example designed as a display device, to output the information that the locking device 110, 111, 112 has a fault when the locking device 110, 111, 112 has been activated and the detection device 15 has determined that the vehicle 100 is moving.

[0066] According to a preferred embodiment, the control unit 10 includes an electric motor control unit 11, which is activated in step S2 by means of the control unit 10 when the locking device 110, 111, 112 has been activated. In this case, in step S3, the electric motor 102 is controlled by means of the electric motor control unit 11 to stop the movement of the vehicle 100 and to maintain the stopped state of the vehicle 100 when the detection device 15 determines that the vehicle 100 is moving. Furthermore, the electric motor control unit 11 is deactivated by means of the control unit 10 when the detection device 15 determines that the vehicle 100 is not moving.After deactivation of the electric motor control unit 11, the control unit 10 then causes the detection unit 15 to continuously determine whether the vehicle 100 is moving or not, and, if the detection unit 15 determines that the vehicle 100 is moving, the control unit 10 activates the electric motor control unit 11 to control the electric motor 102 in order to stop the movement of the vehicle 100 and to maintain the stop state of the vehicle 100. Reference symbol list

[0067] 10 Control unit 11 Electric motor control unit 12 Storage unit 14 Output unit 15 Detection unit 16 Actuating unit 100 Vehicle 101 Wheel 102 Electric motor 103 Electric motor output shaft 105 Transmission 106 Transmission output shaft 110 Parking brake 111 Parking lock to block the electric motor output shaft 112 Parking lock to block the vehicle's transmission

Claims

1. Device for preventing a parked vehicle (100), in particular an electric or hybrid vehicle, from rolling away, having a blocking device (110, 111, 112), which can be activated by electronic actuation, for immobilizing a movement of the vehicle (100), a determination device (15) which is configured to determine whether the vehicle (100) is moving or not, and a control device (10) which is configured to determine whether the blocking device (110, 111, 112) has been activated or not and, if the blocking device (110, 111, 112) has been activated, to prompt the determination device (15) to determine whether the vehicle (100) is moving or not, and, if the determination device (15) determines that the vehicle (100) is moving, to actuate an electric motor (102) of the vehicle (100) for driving the vehicle (100) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100).

2. Device according to Claim 1, moreover having a memory device (12) and an output device (14), wherein the control device (10) is configured to save in the memory device (12) information that the blocking device (110, 111, 112) has a fault and to output it, by means of the output device (14), when the blocking device (110, 111, 112) has been activated and the determination device (15) determines that the vehicle (100) is moving.

3. Device according to Claim 1 or 2, in which the control device (10) has an electric motor control device (11) and is configured to activate the electric motor control device (11) when the blocking device (110, 111, 112) has been activated, and the electric motor control device (11) is configured to actuate the electric motor (102) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100) if the determination device (15) determines that the vehicle (100) is moving.

4. Device according to Claim 3, in which the control device (10) is configured to deactivate the electric motor control device (11) if the determination device (15) determines that the vehicle (100) is not moving.

5. Device according to Claim 4, in which the control device (10) is configured to prompt the determination device (15), after the deactivation of the electric motor control device (11), to continuously determine whether the vehicle (100) is moving or not and, if the determination device (15) determines that the vehicle (100) is moving, to activate the electric motor control device (11) in order to actuate the electric motor (102) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100).

6. Device according to one of the preceding claims, in which the determination device (15) is configured to detect a rotated position of a rotor of the electric motor (102) and / or to detect a speed of rotation of a wheel (101) of the vehicle (100) and to determine that the vehicle (100) is moving if the rotated position of the rotor of the electric motor (102) changes or the speed of rotation of the wheel (101) does not equal zero.

7. Device according to one of the preceding claims, in which the blocking device (110, 111, 112) is a parking lock (111), which can be activated by electronic actuation, for immobilizing an output shaft (103) of the electric motor (102), or a parking lock (112), which can be activated by electronic actuation, for immobilizing a transmission (105) of the vehicle (100), or a parking brake (110), which can be activated by electronic actuation, for immobilizing at least one wheel (101) of the vehicle (100).

8. Device according to one of the preceding claims, in which the control device (10) is configured to determine, on the basis of a position of an actuator of the blocking device (110, 111, 112), whether the blocking device (110, 111, 112) has been activated or not.

9. Device according to one of the preceding claims, in which the control device (10) is configured to regulate torque of the electric motor (102) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100).

10. Vehicle (100), in particular electric or hybrid vehicle, having a device according to one of the preceding claims.

11. Method for preventing a parked vehicle (100), in particular an electric or hybrid vehicle, from rolling away, comprising determining, by means of a control device (10), whether a blocking device (110, 111, 112) for immobilizing a movement of the vehicle (100), which can be activated by electronic actuation, has been activated or not, prompting, by means of the control device (10), a determination device (15) to determine whether the vehicle (100) is moving or not when it has been determined by means of the control device (10) that the blocking device (110, 111, 112) has been activated, and actuating, by means of the control device (10), an electric motor (102) of the vehicle (100) for driving the vehicle (100) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100) if the determination device (15) determines that the vehicle (100) is moving.

12. Method according to Claim 11, moreover comprising saving in a memory device (12), by means of the control device (10), information that the blocking device (110, 111, 112) has a fault, and prompting, by means of the control device (10), an output device (14) to output the information that the blocking device (110, 111, 112) has a fault when the blocking device (110, 111, 112) has been activated and it has been determined by means of the determination device (15) that the vehicle (100) is moving.

13. Method according to Claim 11 or 12, in which the control device (10) has an electric motor control device (11) and the electric motor control device (11) is activated, by means of the control device (10), when the blocking device (110, 111, 112) has been activated, and moreover comprising actuating, by means of the electric motor control device (11), the electric motor (102) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100) if it is determined by means of the determination device (15) that the vehicle (100) is moving.

14. Method according to Claim 13, moreover comprising deactivation, by means of the control device (10), of the electric motor control device (11) if it is determined by means of the determination device (15) that the vehicle (100) is not moving.

15. Method according to Claim 14, moreover comprising prompting, by means of the control device (10), the determination device (15), after the deactivation of the electric motor control device (11), to continuously determine whether the vehicle (100) is moving or not and, if it is determined by means of the determination device (15) that the vehicle (100) is moving, activating the electric motor control device (11), by the control device (10), in order to actuate the electric motor (102) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100).

16. Method according to one of Claims 11 to 15, in which the determining by means of the determination device (15) whether the vehicle (100) is moving or not comprises detecting a rotated position of a rotor of the electric motor (102) and / or detecting a speed of rotation of a wheel (101) of the vehicle (100), and it is determined by means of the determination device (15) that the vehicle (100) is moving if the rotated position of the rotor of the electric motor (102) changes or the speed of rotation of the wheel (101) does not equal zero.

17. Method according to one of Claims 11 to 16, in which the blocking device (110, 111, 112) is a parking lock (111), which can be activated by electronic actuation, for immobilizing an output shaft (103) of the electric motor (102), or a parking lock (112), which can be activated by electronic actuation, for immobilizing a transmission (105) of the vehicle (100), or a parking brake (110), which can be activated by electronic actuation, for immobilizing at least one wheel (101) of the vehicle (100).

18. Method according to one of Claims 11 to 17, in which the control device (10) determines, on the basis of a position of an actuator of the blocking device (110, 111, 112), whether the blocking device (110, 111, 112) has been activated or not.

19. Method according to one of Claims 11 to 18, in which torque of the electric motor (102) is regulated by means of the control device (10) in order to stop the movement of the vehicle (100) and maintain the stopped state of the vehicle (100).