Method for controlling a motor vehicle in the event of a fault in the front axle steering, and emergency steering system

Abstract

The present invention relates to a method for controlling a motor vehicle having a steer-by-wire steering system with front-axle steering unit (2) and rear-axle steering unit (3) in the event of a fault (25) being detected in the front-axle steering unit (2), wherein vehicle signals relating to a steering input (721), a position of a steering rack of the front-axle steering unit (2) and a yaw rate (751) of the motor vehicle are detected, the detected vehicle signals (721, 751) are made available to a control unit (6), the control unit (6), in order to implement the steering input, generates a first control signal for controlling a steering adjuster (84) of the rear-axle steering unit (3), wherein the first control signal is generated taking into consideration the steering input (721), the position of the steering rack of the front-axle steering unit (2) and the yaw rate (751), and the steering adjuster (84) of the rear-axle steering unit (3) is controlled by the generated first control signal (94). The invention further relates to an emergency steering system which is designed in particular for the implementation of such a method.

Description

[0001] Method for controlling a motor vehicle when a front-axle steering fault occurs, and emergency steering system. The invention relates to a method for controlling a motor vehicle having a steer-by-wire steering system with front-axle steering and rear-axle steering when a front-axle steering fault is detected. Vehicle signals relating to a steering input, a position of a rack of the front-axle steering, and a yaw rate of the motor vehicle are detected. The detected vehicle signals are provided to a control unit, and the control unit generates a control signal. Furthermore, the invention relates to an emergency steering system for providing steering capability for a motor vehicle having a steer-by-wire steering system with front-axle steering and rear-axle steering when the front-axle steering fails. Steer-by-wire steering systems have been described many times in the prior art.For example, DE 102018114988 A1 discloses a steer-by-wire steering system with a steering handle, a feedback actuator, and a steering actuator. A steering command can be specified via the steering handle, which can be converted by the steering actuator into a steering movement of steerable wheels of a motor vehicle. One challenge with steer-by-wire steering systems is to keep a motor vehicle controllable even when errors occur in the steer-by-wire steering system. DE 102020100719 A1 proposes, in the event of a fault in the front-axle or rear-axle steering of a motor vehicle with front-axle and rear-axle steering, deactivating the faulty steering and enabling a steering movement using an autonomous driving mode or a derived target movement.It is also known from DE 102019217588 A1 that, following a vehicle collision resulting in one or more wheels on a vehicle axle being incompletely or even completely steerable, steering is performed using the functioning steering axle, and a braking signal is transmitted to one of the vehicle wheels connected to this steering axle. Furthermore, DE 102018107612 A1 discloses a motor vehicle with front- and rear-wheel steering and torque vectoring on the rear axle, wherein an actual vehicle state is compared with a desired vehicle behavior of a motor vehicle. Using rear-wheel steering and rear-wheel drive to control the rear wheels, the actual vehicle state is brought closer to the desired vehicle behavior. Furthermore, it is disclosed that, in the event of a failure of the front-axle steering and the front-wheel drive, the rear-wheel steering and the rear-wheel drive can take over control of the motor vehicle.WO 2017 / 001045 A1 also describes a motor vehicle with a front-axle steering system and a rear-axle steering system. An automatically controlled front-axle steering system is provided for autonomous driving. A failure detection device can detect a failure of the front-axle steering system, with the vehicle then being steered by the rear-axle steering system. Furthermore, in the event of a failure of the front-axle steering system, the front wheels are braked in such a way that the front-axle steering system is centered. EP 2072374 A2 also discloses a device for damping rear-axle steering. An electric motor driving a steering actuator acting on the rear axle is operated in generator mode to dampen the rear-axle steering.Based on this, there is a further need to keep a motor vehicle with a steer-by-wire steering system controllable in the event of errors in or on the steering system, and thus to further reduce the risk of personal injury. Against this background, it is an object of the present invention to improve a motor vehicle with a steer-by-wire steering system comprising front-axle and rear-axle steering, and in particular to keep the motor vehicle steerable in an improved manner in the event of a fault in the front-axle steering. To achieve this object, a method for controlling a motor vehicle having a steer-by-wire steering system with front-axle steering and rear-axle steering, and an emergency steering system according to the independent claims are proposed. Further advantageous embodiments of the invention are described in the dependent claims and the description, and are illustrated in the figures.The proposed solution provides a method for controlling a motor vehicle having a steer-by-wire steering system with front-axle steering and rear-axle steering when a fault in the front-axle steering is detected. Vehicle signals relating to a steering command, a position of a rack of the front-axle steering, and a yaw rate of the motor vehicle are detected. The detected vehicle signals are provided to a control unit. The control unit generates a first control signal for controlling a steering actuator of the rear-axle steering to implement the steering command. According to the invention, the first control signal is generated taking into account the steering command, the position of the rack of the front-axle steering, and the yaw rate, and the steering actuator of the rear-axle steering is controlled with the generated first control signal.Advantageously, by taking into account the steering input and the position of the steering rack, as well as additionally taking into account the yaw rate of the motor vehicle, improved steerability of the motor vehicle is achieved when a fault occurs relating to the front axle steering. A front axle steering fault is detected in particular as a failure of the controllability of the front axle steering, wherein a rack of the front axle steering can in particular be freely movable. However, a blocked or damped steering is also detected in particular as a front axle steering fault. In particular, a front axle steering fault is detected when a predetermined steering command can no longer be implemented using the front axle steering. The front axle steering fault can in particular be due to an accident involving the vehicle. By means of the method, a vehicle advantageously remains steerable until it comes to a safe standstill.In particular, possible obstacles can still be avoided until the vehicle comes to a safe stop. The motor vehicle is in particular a two-track motor vehicle, in particular a two-track passenger car (passenger car) which has two front wheels and two rear wheels. According to an advantageous embodiment of the method, in order to implement the steering command, the control unit generates a second control signal for controlling a front brake of the motor vehicle, at least one front wheel brake of the motor vehicle, and / or a rear brake of the motor vehicle, at least one rear wheel brake of the motor vehicle, wherein the front brake and / or the rear brake are advantageously controlled with the generated second control signal. In particular, it is provided that by controlling the front brake and the rear brake, a direction of travel of the motor vehicle is to be influenced in accordance with a detected steering command.Advantageously, the front brake and the rear brake are applied in a direction-dependent manner by means of the second control signal, in particular depending on a steering command from a driver or an autonomous vehicle control system. Furthermore, the generation and application of the second control signal advantageously takes into account whether the vehicle should be braked or not. If the front brake and / or the rear brake are applied by means of the second control signal to generate a yaw moment acting on the vehicle, a compensating torque is advantageously provided, which advantageously maintains the vehicle's speed.An advantageous development of the method provides that a vehicle signal relating to an acceleration specification, in particular an actuation of a brake pedal and / or an actuation of an accelerator pedal, is additionally detected, wherein, taking the acceleration specification into account, a brake pressure for the front brake and / or the rear brake is calculated as the second control signal. In particular, it is provided that a brake pressure is specified for each wheel of the vehicle with the second control signal. In particular, it is thus advantageously further taken into account whether a driver intends to brake the vehicle or not. In particular, it is provided that if no braking is detected as an acceleration specification, a compensating torque maintaining the vehicle speed is provided for a yaw moment generated by the actuation of the front brake and / or the rear brake.This provision of a compensating torque is advantageously omitted if deceleration is detected as an acceleration command. According to a further advantageous embodiment of the method, a vehicle signal relating to a vehicle speed is additionally detected, wherein a reference value for a yaw rate of the motor vehicle is determined taking into account the vehicle speed and the calculated brake pressure. Advantageously, the reference value for a yaw rate of the motor vehicle is used by a yaw controller of the motor vehicle, in particular by an active yaw control system, which is advantageously used in a supporting manner to implement a steering command in the event of a failed front-axle steering. Advantageously, this further improves steerability.A further advantageous embodiment provides that, taking into account the steering input and the position of the rack of the front-axle steering system, a steering actuator signal is generated for the steering actuator of the rear-axle steering system. A yaw controller generates a control signal for determining a torque distribution at the wheels of the motor vehicle, taking into account the yaw rate of the motor vehicle. The first control signal is generated by superimposing the steering actuator signal and the control signal. Advantageously, this further improves the steerability of the motor vehicle when the front-axle steering system fails.In particular, the rear-wheel steering becomes the main actuator for the steering in the event of a defective front-axle steering system, especially in the event of a defective front-wheel rack, wherein the rear-wheel steering is advantageously controlled with a forward steering component, in particular the steering input and the position of the rack of the front-axle steering system, and a superimposed yaw controller. The superimposed yaw controller, in particular the control signal generated by the yaw controller, advantageously reduces interference, such as, in particular, μ-split braking. It is further advantageously provided that the yaw controller is provided with a difference between the detected vehicle signal relating to the yaw rate of the motor vehicle and the determined reference value for the yaw rate as an input variable.Further advantageously, a specification regarding a target yaw rate of the motor vehicle to be achieved is provided, which can in particular correspond to the determined reference value for the yaw rate of the motor vehicle, and, taking into account a current actual yaw rate of the motor vehicle, a braking specification is determined for at least one of the wheels of the motor vehicle to approximate the actual yaw rate to the target yaw rate. Preferably, a braking intervention occurs in accordance with the determined braking specification.In particular, a method for assisting the steering of a two-track motor vehicle having two front wheels and two rear wheels is proposed, wherein a specification is provided regarding a target yaw rate of the motor vehicle to be achieved, taking into account a current actual yaw rate of the motor vehicle, a braking specification is determined for at least one of the wheels of the motor vehicle in order to approximate the actual yaw rate to the target yaw rate, and a braking intervention takes place in accordance with the determined braking specification.The idea underlying the provision of a specification regarding a target yaw rate of the motor vehicle to be achieved, the determination of a braking specification for at least one of the wheels of the motor vehicle taking into account a current actual yaw rate of the motor vehicle in order to approximate the actual yaw rate to the target yaw rate and the provision of a braking intervention in accordance with the determined braking specification is to generate a moment about the vertical axis by unilaterally introducing a braking torque into a two-track motor vehicle with two front and two rear wheels, which moment is advantageously used to assist the functionally impaired steer-by-wire steering system of the motor vehicle when carrying out a change of direction and / or to steer the motor vehicle solely with this, in particular when steering capability is otherwise not available.If a braking torque acts primarily on the front axle of a two-track motor vehicle, this will tend to understeer the vehicle, whereas a stronger braking torque on the rear axle will tend to oversteer the vehicle. This property is advantageously used to optimize the steering behavior of the vehicle, particularly in the event of at least partial failure of a motor vehicle's steer-by-wire steering system, particularly if the front axle steering is impaired. The actual yaw rate is advantageously measured. This can be done in particular by a measuring device of an existing ESP (Electronic Stability Program) or by an additional sensor unit. This is advantageously used with other values, in particular the steering angles, lateral accelerations and / or wheel speeds, in order to achieve a more precise determination of the actual yaw rate.According to an advantageous embodiment of the method, the specification regarding the target yaw rate is provided taking into account a steering specification. The steering specification can be specified, in particular, by a driver via a steering handle or, in an at least partially autonomous driving mode of the motor vehicle, by a driver assistance system. Advantageously, a braking torque is initiated in such a way that the motor vehicle follows the steering specification more effectively. In particular, it is provided that the target yaw rate corresponds to the determined reference value for the yaw rate of the motor vehicle. According to one embodiment variant, the target yaw rate is determined based on the target steering angles of the front and rear wheels.The target steering angles are determined, in particular, based on a detected steering input. In the case of a steering input via a steering wheel, the target steering angles are calculated, in particular, from the steering wheel angle and steering wheel rotation speed, particularly taking into account the vehicle speed, the fixed variables related to the wheelbase, and / or the self-steering gradient. In particular, the target yaw rate can be determined according to the functional relationship described below: where: ^ ^ = Target yaw rate; ^ = Vehicle speed; ^ = Wheelbase; ^^ = Self-steering gradient; and ^ ^ = atan(tan^^ ^ ^ − tan(^ ^ )), with = target steering angle of the front wheels; and ^ ^= Target steering angle of the rear wheels. An advantageous development provides that the braking specification described above is determined based on a two-track model, wherein the two-track model describes in particular the stationary and unsteady lateral dynamics of the motor vehicle. The two-track model is advantageously solved for its stationary states, so that a desired yaw rate as input to the two-track model advantageously results in a braking torque difference necessary to achieve the desired yaw rate as output. In particular, it is provided that the specification regarding the target yaw rate is fed to the two-track model as an input variable and, using the two-track model for an assumed stationary state of the motor vehicle as an output variable, a resulting braking torque difference between the wheels is determined, wherein the braking specification is advantageously determined from the braking torque difference.In particular, the braking torque difference between the left and right wheels is calculated. According to a further advantageous development, a scaling factor is applied to the determined braking torque difference, wherein the scaling factor is less than 1. This embodiment is intended in particular for steering support, i.e., in particular when the steering of the motor vehicle is still at least partially functional, i.e., in particular, the rear-axle steering or the rear-axle steering and the front-axle steering are still functional to at least a certain extent. Tests have shown that, depending on the maneuver, this scaling factor is preferably in a range between 0.05 and 0.2, more preferably in a range between 0.05 and 0.1.A further advantageous embodiment therefore provides that a current driving maneuver is evaluated from driving state information, i.e., in particular, information relating to the current driving state of the motor vehicle, in particular vehicle speed. Depending on the evaluation of the driving maneuver, the scaling factor is advantageously set to a value in a range from 0.05 to 0.2, in particular in a range from 0.05 to 0.1. Driving maneuvers in the limit range advantageously lead to a smaller value for the scaling factor, whereas a so-called "limp-aside" driving maneuver advantageously leads to a larger value for the scaling factor.Furthermore, the scaling factor is particularly speed-dependent, with a high driving speed advantageously leading to a high scaling factor within the specified range and a low driving speed advantageously leading to a low scaling factor within the specified range. Further advantageously, the embodiment of the method with the braking intervention according to the determined braking command is applied in the event of a detected at least partial failure of the steer-by-wire steering system of the motor vehicle, with the scaling factor advantageously being set at a higher value the lower the steering effect that can still be provided by the steering system. Advantageously, the targeted braking intervention can ensure that the motor vehicle follows a steering command better than would be the case with only the steering effect that can still be provided by the steering system.In this respect, in particular a method for assisting the steering of a two-track motor vehicle having two front wheels and two rear wheels is proposed, wherein an at least partial failure of a steer-by-wire steering system is detected, taking into account a detected steering command, a command regarding a target yaw rate of the motor vehicle to be achieved is provided, taking into account a current actual yaw rate of the motor vehicle, a braking command is determined for at least one of the wheels of the motor vehicle in order to approximate the actual yaw rate to the target yaw rate, and a braking intervention takes place in accordance with the determined braking command, wherein the braking command is determined in particular based on a two-track model, in particular as described above.In particular, it is provided that, to determine the braking requirement based on the two-track model, a force difference ΔFX between the front axle and rear axle of the motor vehicle is determined. Based on the determined force difference, a brake pressure is determined, with which the motor vehicle is specifically braked. The brake pressure is advantageously determined based on the determined force difference, taking into account the wheel diameter of the motor vehicle's wheels and the so-called c. p -value that describes a relationship between brake pressure and torque. The cp value is determined experimentally for a particular vehicle model by comparing the measured brake pressure and the occurring braking torque. According to an advantageous embodiment, the force difference ΔFX is determined as follows: where: ^̈ : yaw acceleration, ^ ^ : lateral tire stiffness, ^ ^: Distance of the front axle of the motor vehicle to the centre of mass of the motor vehicle, ^ ^: Distance of the rear axle of the motor vehicle to the center of mass of the motor vehicle, ^ : Vehicle mass, and ^ : Local speed (vehicle speed). An advantageous embodiment provides that the braking command is calculated, wherein a target yaw moment to be achieved is advantageously determined from the target yaw rate, which is proportional to the target yaw rate, and wherein the target yaw moment is advantageously multiplied by a value for a current driving speed of the motor vehicle. In particular, it is provided that a braking pressure is calculated by multiplying a desired yaw moment, which is proportional to the desired yaw rate, which is advantageously determined from a steering angle of a steering handle of the motor vehicle, by the vehicle speed. In particular, the determination of the braking pressure in this embodiment is based on the determination of the force difference ΔF X to where: ^̈ : yaw acceleration, ^ : local speed (vehicle speed), and ^ : constant, in particular with ^ = [ 80 … 100 ], further in particular with ^ = 95. As an advantageous embodiment for determining the braking specification, it is therefore provided that a braking pressure is determined for at least one specific wheel of the motor vehicle's wheels, in particular for the wheels of one axle of the motor vehicle. Advantageously, the brakes of the motor vehicle are actuated with the determined braking pressure. Advantageously, the higher the driving speed of the motor vehicle, the higher the braking pressure is determined. In particular, it is provided that the method in which a braking specification is determined is carried out upon a detected at least partial failure of the steer-by-wire steering system of the motor vehicle,Such a partial failure of the steering system, particularly in the case of all-wheel steering, is a failure of the steerability of the front axle of the motor vehicle by means of the steering system by controlling the corresponding steering actuator. In the case of such a partial failure of the steering system, assisted steering is advantageously provided by the advantageously additionally provided braking intervention. According to a further advantageous embodiment of the method proposed to achieve the object mentioned at the outset, a vehicle signal relating to the response of a front brake of the motor vehicle is additionally detected and provided to the control unit, wherein the control unit, taking into account the response of the front brake of the motor vehicle, generates a braking torque compensation as a third control signal, and a drive train of the motor vehicle is controlled with the third control signal. In particular, this further improves,that the motor vehicle follows a steering command, in particular with further consideration of an acceleration command. A further advantageous embodiment provides that a movement of the rack of the front-axle steering is dampened, in particular when the rack is freely movable. This advantageously reduces the steering influence of the defective front-axle steering. In particular, it is provided that the control unit generates a fourth control signal for controlling a short-circuit of an electric motor of a steering actuator of the front-axle steering, wherein the control with the fourth control signal short-circuits phases of the electric motor and thus dampens a movement of the rack of the front-axle steering. According to a further aspect, it is generally provided that a movement of a functionally impaired axle steering is dampened,In particular, to prevent the externally enforced adjustment of unwanted wheel steering angles of the wheels of the impaired axle steering system. Advantageously, the movement of the impaired axle steering system is damped when a wheel steering angle favorable for a steering input is set. In particular, the functional axle steering system is used to implement the steering input. Advantageously, the functional axle steering system can be supported by targeted braking interventions, applied drive torques, and / or other control interventions. In particular, the damping is intended to exert a significant damping torque on an electric motor of a road wheel actuator of the steer-by-wire steering system, in particular on an electric motor of a steering actuator of the steer-by-wire steering system.Preferably, by short-circuiting the electrical phases of the electric motor. The resulting damping force is advantageously used to keep the wheel steering angles of the impaired axle steering, in particular the wheel steering angles of the front road wheels, constant, especially so that the motor vehicle can be steered via the rear axle steering. Advantageously, in this embodiment, the motor phase short circuit is activated by the control unit, in particular by a driving state determination device, further in particular by a vehicle dynamics control system, which advantageously detects the state of the motor vehicle and steers after the failure of the axle affected by a malfunction. If additional damping is used, in particular by a motor phase short circuit, unintentional steering movements of the wheels that can no longer be steered in a targeted manner, caused by dynamic lateral forces, are advantageously braked.in particular due to friction and the damping generated. This effect can advantageously limit disruptive reactions of the still functional axle steering system, in particular the functional rear-wheel steering system, whereby slow steering via an alternative steering mechanism using brakes or drive is advantageously still possible and can advantageously be used specifically. This can advantageously further improve the controllability of the vehicle in the event of a steering system failure. This proposed design can be particularly useful in emergency braking, where the lane must be maintained despite a defective steering system, or during a slow evasive maneuver. The control unit advantageously detects a failure of an electric steering actuator of the front-axle steering system and activates the phase short circuit on its electric servo motor.so that the wheel steering angle of the front wheels is advantageously fixed. The control unit then advantageously transmits reference position information to the rear axle steering based on a measured steering wheel position. In particular, it is also provided that damping of the defective axle steering and an alternative steering function, in particular by targeted braking of wheels of the motor vehicle and / or by steering the still steerable wheels of the functional axle steering, operate in parallel. In this case, the damping function is advantageously switched on and off in a targeted manner in order to be able to indirectly adjust the desired wheel steering angle and thus further improve steering control. According to a further advantageous development of the method, a driving state determination device determines, taking into account available vehicle signals, in particular taking into account all available vehicle signals,a driving state of the motor vehicle. The determination of the driving state advantageously includes an assessment of whether the motor vehicle is traveling in city traffic, overland, or on a motorway. The driving state determined by the driving state determination device is advantageously provided to the control unit. Advantageously, the further control signals are adapted depending on the determined driving state. The control unit takes into account, in particular, the driving state for generating at least one of the control signals, in particular for generating the first control signal, the second control signal,of the third control signal and / or the fourth control signal. Advantageously, the steerability is thus improved and situationally adapted to a current driving condition. In particular, further improved results can be achieved in relation to yaw control and, in particular, a suitable brake pressure for the front brake and / or the rear brake can be specified in an even better manner. A further advantageous embodiment provides that, in addition, a first wheel steering angle of the front wheels is detected and, using the rear axle steering to implement the steering input, a second wheel steering angle of the rear wheels is set. From the detected steering input, a first target steering angle for the front wheels and a second target steering angle for the rear wheels are determined, and the second wheel steering angle is determined taking into account the determined first target steering angle.of the determined second target steering angle and the detected first wheel steering angle. In particular, a method is provided for operating a steer-by-wire steering system in a motor vehicle with a first steering system for steering first wheels on a first axle of the motor vehicle, in particular with a front-axle steering system, and a second steering system for steering second wheels on a second axle of the motor vehicle, in particular with a rear-axle steering system, wherein a steering command for the motor vehicle is detected, a first wheel steering angle of the first wheels, in particular of the front wheels, is detected, and using the second steering system to implement the steering command, a second wheel steering angle of the second wheels, in particular of the rear wheels, is set, wherein a first target steering angle for the first wheels of the motor vehicle, in particular of the front wheels of the motor vehicle, is determined from the detected steering command.and a second target steering angle for the second wheels, in particular the rear wheels, is determined for the motor vehicle, and the second wheel steering angle is determined taking into account the determined first target steering angle, the determined second target steering angle, and the detected first wheel steering angle. Since in many steering maneuvers, not both steering systems are used, but only the first steering system, in particular the front-axle steering, is used to implement a steering command, the second target steering angle for these steering maneuvers can be determined, in particular, as 0°, thus direct use of the second steering system, in particular the rear-axle steering, is not provided for these steering maneuvers. By taking into account the first target steering angle, the second target steering angle, and the detected first wheel steering angle, the second wheel steering angle of the wheels of the second steering system, in particular the rear-axle steering, can advantageously be determined in such a way thatthat the motor vehicle follows a steering command as precisely as possible, in particular when the first steering system, which preferably corresponds to the front-axle steering, is no longer suitable or at least only partially suitable for implementing a steering command due to a malfunction. Thus, the method is particularly intended for use when the first steering system, in particular the front-wheel steering, of a passenger car is no longer fully functional after a collision or for another reason, and the first wheels, in particular the front wheels, can only be steered to a limited extent, thus in particular only a smaller steering angle than specified can be set. To detect the first wheel steering angle, it is particularly provided to measure it, in particular by means of a correspondingly configured sensor unit. Alternatively or additionally, to detect the first wheel steering angle, it is provided to estimate it,in particular by means of a state estimator. The estimation is preferably carried out in such a way that a rear axle position is determined from a measured position on the second steering system. Using the measured rear axle position, an applied yaw rate, and measured wheel speeds, the first steering angle position is advantageously estimated. According to a particularly advantageous embodiment, the second wheel steering angle is determined using ^, ^^^^^ = atan(tan wobei ^ ^^^^^ =second (to be adjusted) wheel steering angle,^ ^^^^ = first target steering angle for the first wheels (front wheels); ^ ^^^^ = second target steering angle for the second wheels (rear wheels); and ^ ^^^= (detected) first wheel steering angle. Advantageously, the problem of determining the second wheel steering angle is solved by calculating a corresponding kinematic radius from the steering input and determining a first and second target steering angle. Subsequently, advantageously, the second wheel steering angle required to implement the steering input is calculated, taking into account the measured actual first wheel steering angle, advantageously according to the above equation. In particular, it can be provided that the first steering system, in particular the front-axle steering system, is a main steering system of the motor vehicle, with which a steering input is implemented during normal operation of the motor vehicle, in particular in a collision-free state, in particular with which a steering input is implemented alone in a normal operating mode, i.e., without using the second steering system, in particular the rear-axle steering system. The second steering system, in particular the rear-axle steering system,is advantageously a steering assistance system with which, during normal operation, particularly in a collision-free state, in given driving situations, the main steering system can be assisted to implement the steering command, in particular to improve the driving behavior of the motor vehicle compared to a motor vehicle comprising only the main steering system, in particular to reduce the turning circle of the motor vehicle during parking maneuvers, to increase the dynamics of the driving behavior in a sport mode of the motor vehicle, and / or to stabilize the motor vehicle depending on the driving situation. The main steering system is in particular the front-axle steering system of the motor vehicle, and the steering assistance system is in particular the rear-axle steering system of the motor vehicle, which advantageously together form a so-called all-wheel steering system during normal operation. In the event of a functional impairment of the front-axle steering system,In particular, in the event of a collision-related failure of the front-axle steering system, in which a specific first target steering angle can no longer be set or can no longer be fully set by the front-axle steering system, the assisted steering system, i.e. the rear-axle steering system, is then advantageously used, the steering system with which the motor vehicle is advantageously kept maneuverable, and in particular a steering command can still be implemented. In particular, it is provided that in the event of a failure of the front-axle steering system, the still functional rear-axle steering system can be additionally supported in implementing steering commands by targeted control of actuators acting on the vehicle's wheels, such as brakes and / or drive units. Advantageously, when operating the steer-by-wire steering system in a motor vehicle, the functionality of at least the first steering system,in particular the functionality of the first steering system and the functionality of the second steering system are monitored, and a failure of the first steering system is detected and the steering system in the motor vehicle is operated as a result of the detection of the failure of the first steering system in such a way that a steering command for the motor vehicle is detected, a first wheel steering angle of the first wheels is detected, a first target steering angle of the first wheels of the motor vehicle and a second target steering angle of the second wheels of the motor vehicle are determined from the detected steering command, the second wheel steering angle is determined taking into account the determined first and second target steering angles and the detected first wheel steering angle, and using the second steering system, the determined second wheel steering angle of the second wheels is set to implement the steering command. In particular, it is provided that the steering command for steering the motor vehicle in the method is transmitted via a steering handle,in particular via a steering wheel, is specified by a driver. As an advantageous embodiment variant, however, it is provided that the steering input for steering the motor vehicle is specified by a driver assistance system, in particular by a driver assistance system that is configured to bring the motor vehicle to a safe standstill after a collision of the motor vehicle, in particular while avoiding further collisions. Such further collisions can advantageously be prevented by means of the method proposed according to the invention, in particular because the motor vehicle remains maneuverable and, furthermore, a steering movement of the steered wheels of the second axle that is to be implemented for this purpose can be determined comparatively precisely. A further development of the embodiments of the method described above provides that in a normal operating mode of the steer-by-wire steering system,In particular, in a normal operating mode from a plurality of normal operating modes of the steer-by-wire steering system, only the front-axle steering is used to implement the detected steering input, and the second target steering angle for the rear wheels in this normal operating mode is thus determined or set to 0°. The second target steering angle is therefore not taken into account in this normal operating mode, which advantageously covers many kilometers driven by a motor vehicle. In this special normal operating mode, if a functional impairment of the front-axle steering is detected, the second wheel steering angle is therefore advantageously determined in a simplified manner using ^, ^^^^^ = atan(tan The further proposed solution to the problem mentioned at the outset provides an emergency steering system for providing steering capability of a motor vehicle having a steer-by-wire steering system with front-axle steering and rear-axle steering in the event of failure of the front-axle steering, comprising a control unit, wherein a steering actuator of the rear-axle steering and actuators of the motor vehicle outside the steer-by-wire steering system are assigned to the control unit, and wherein a sensor unit for detecting a vehicle signal relating to a steering command and further sensor units for detecting further vehicle signals are assigned to the control unit.The control unit of the emergency steering system is designed to receive vehicle signals from the associated sensor units and to generate control signals for the steering actuator of the rear axle steering assigned to the control unit and the actuators of the motor vehicle outside the steer-by-wire steering system from the received vehicle signals in order to implement the received steering command.Advantageously, the emergency steering system improves the steerability of the motor vehicle by not only using the still functional rear-axle steering to implement a steering command, which may be inadequate in many situations, but also by controlling at least one further actuator of the motor vehicle that is not originally assigned to a steering system, such as in particular a front brake of the motor vehicle, in particular a brake unit assigned to a respective front wheel, and / or a rear brake of the motor vehicle, in particular a brake unit assigned to a respective rear wheel, and / or at least one drive unit of the motor vehicle. The emergency steering system 1 therefore advantageously comprises at least one actuator of the steer-by-wire steering system and at least one further actuator of the motor vehicle that is not originally part of the steer-by-wire steering system.Advantageously, vehicle assistance systems connected to the actuator are used to control the at least one further actuator of the motor vehicle and are advantageously controlled by the control unit of the emergency steering system. The further sensor units assigned to the control unit of the emergency steering system comprise, in particular, at least one of the following sensor units: a sensor unit for detecting the actuation of a brake control element, in particular a brake pedal; a sensor unit for detecting the actuation of an acceleration control element, in particular an accelerator pedal; a sensor unit for detecting the position of a rack of the front roof steering; a sensor unit for detecting the vehicle speed; and a sensor unit for detecting the yaw rate of the motor vehicle. According to an advantageous embodiment, all of the aforementioned sensor units are assigned to the control unit of the emergency steering system.Instead of the sensor unit for detecting the position of a rack of the front roof steering system, an estimation unit can also be provided, with which the position of a rack of the front axle steering system can advantageously be determined by estimation. Advantageously, the control unit is designed to precisely determine a driving condition using the vehicle signals detected by the sensor units and to control the steering actuator of the rear axle steering system and the other actuators of the motor vehicle in such a way that the vehicle follows a steering command even more effectively in the event of a failure of the front axle steering system.The additional actuators of the motor vehicle, which are assigned in particular to the motor vehicle outside the steer-by-wire steering system, comprise in particular at least one of the following actuators: front brake of the motor vehicle, in particular at least one front-wheel brake of the motor vehicle; rear brake of the motor vehicle, in particular at least one rear-wheel brake of the motor vehicle; drive train of the motor vehicle, in particular at least one motor provided for driving the motor vehicle, and further in particular wheel hub motors assigned to wheels of the motor vehicle. According to an advantageous embodiment, all of the aforementioned actuator units are assigned to the control unit of the emergency steering system, so that, advantageously, when a fault in the front-axle steering is detected, all of the actuator units can be controlled by the control unit of the emergency steering system to implement a steering command.A further advantageous embodiment provides that the control unit of the emergency steering system is additionally assigned a short-circuit circuit of an electric motor of a steering actuator of the front-axle steering. When activated, the short-circuit circuit is designed to short-circuit phases of the electric motor and thus dampen movement of the rack of the front-axle steering. If the rack of the front-axle steering is freely movable in the event of a fault in the front-axle steering, the steering influence of the front axle can be advantageously reduced, thus further improving control of the steering movement of the motor vehicle.Further advantageously, the control unit of the emergency steering system is additionally assigned a driving state determination device, wherein the driving state determination device is advantageously designed to determine a driving state of the motor vehicle taking into account detected vehicle signals and to provide it as a further input signal to the control unit, wherein the control unit is advantageously further designed to take the provided driving state into account for the generation of at least one of the control signals. The driving state of the motor vehicle relates in particular to an assignment as to whether the motor vehicle is traveling in city traffic, intercity traffic, or on a motorway. Advantageously, the execution of steering maneuvers can thus be adapted to the situation in an improved manner.Advantageously, the control unit is further designed to control a brake assigned to a respective wheel, wherein the control unit or a computing unit assigned to the control unit is advantageously designed to determine a braking specification, in particular a braking pressure as a braking specification, wherein the fixed values ​​required for this purpose, in particular a distance of the front axle and the rear axle from the center of gravity, are preferably stored in the control unit or in the computing unit, and the variable values, in particular the vehicle speed, are provided to the control unit or the computing unit by sensors of the motor vehicle.In particular, one embodiment provides that the control unit is designed to provide a specification regarding a target yaw rate of the motor vehicle to be achieved, taking into account a detected steering specification and the state of the steering system, to determine a braking specification for at least one of the wheels of the motor vehicle in order to approximate the actual yaw rate to the target yaw rate, taking into account a current actual yaw rate of the motor vehicle, and to carry out a braking intervention in accordance with the determined braking specification. Advantageously, the emergency steering system is thereby supported by the control unit in implementing the steering specification. Further advantageously, the control unit is designed to determine a first target steering angle for the front wheels and a second target steering angle for the rear wheels from the steering specification.Furthermore, it is advantageously provided that the emergency steering system comprises a sensor unit for detecting a current first actual wheel steering angle of the front wheels. The control unit is advantageously also designed, in the event of an at least partial failure of the front-axle steering, to control the steering actuator of the rear-axle steering system, taking into account the first target steering angle for the front wheels and / or the second target steering angle for the rear wheels, as well as the first actual wheel steering angle, in such a way that the steering actuator of the rear-axle steering system sets a second wheel steering angle for the rear wheels to implement the steering command.Advantageously, the emergency steering system designed in this way further improves the ability to maintain maneuverability of a motor vehicle in which the front axle steering has failed, in particular to such an extent that a steering command can no longer be implemented using the front axle steering alone. The operational safety of motor vehicles with such an emergency steering system is thus advantageously increased, and users of such motor vehicles are better protected against injury. According to an advantageous embodiment of the steering system, the front axle steering is a main steering system for the motor vehicle, which is particularly designed to implement a steering command during normal operation, in particular in one of a plurality of normal operating modes, in particular without additional use of the rear axle steering of the steering system.The rear-axle steering is advantageously a support steering system for the motor vehicle, which is particularly designed to support the main steering system in implementing the steering command during normal operation in predetermined driving situations. In this embodiment, only a first target steering angle for the front wheels is generally determined from a steering command, and the second target steering angle for the rear wheels is set to 0°, so that in normal operation a steering command is often only implemented by the front-axle steering. The rear-axle steering is advantageously used in normal operation only in certain driving situations to support the front-axle steering, in particular to achieve a smaller turning circle, increase agility in predetermined driving situations, and / or stabilize the motor vehicle in certain driving situations.Advantageously, the control unit is further designed to implement a detected steering command using the rear axle steering when a failure of the front axle steering is detected, in particular as described above. Advantageously, the control unit is further designed, in addition to setting a second wheel steering angle for implementing a steering command when the front axle steering fails, to control actuators acting on the wheels of the motor vehicle, in particular brakes acting on the wheels and / or drive units acting on the wheels. This is intended to further improve the vehicle's ability to follow a steering command through braking and / or drifting movements. Preferably, the emergency steering system is designed to carry out a method according to the invention, wherein the emergency steering system is advantageously designed to carry out the method steps described above individually or in combination.Further advantageous details, features, and design details of the invention are explained in more detail in connection with the exemplary embodiments illustrated in the figures (Fig.: Figure). Therein: Fig. 1 shows a plan view of a highly simplified exemplary embodiment of an emergency steering system designed according to the invention; Fig. 2 shows a block diagram of a further exemplary embodiment of an emergency steering system designed according to the invention, which is designed to carry out a method according to the invention; Fig. 3 shows a schematic representation of an exemplary embodiment of a motor vehicle with an emergency steering system designed according to the invention; Fig. 4 shows diagrams for a brake pressure, a steering angle, and a target lateral acceleration in connection with a further exemplary embodiment of a method according to the invention, in which a brake pressure is determined starting from a stationary equilibrium state; Fig.5 in connection with a further embodiment of a method according to the invention in which a brake pressure is determined, diagrammatic representations for a brake pressure, a steering angle and a target lateral acceleration; Fig. 6a in a simplified schematic representation shows a further embodiment of an emergency steering system according to the invention in a motor vehicle in a normal operating mode with exclusively steered front wheels and non-steered rear wheels; Fig. 6b in a simplified schematic representation shows the steering system according to Fig. 6a in a motor vehicle in the event of a failure of the front axle steering; Fig. 7a in a simplified schematic representation shows a further embodiment of an emergency steering system according to the invention in a motor vehicle in a normal operating mode with steered front wheels and steered rear wheels; and Fig. 7b in a simplified schematic representation shows the steering system according to Fig.7a in a motor vehicle in the event of a failure of the front axle steering. In the figures, identical parts are provided with the same reference numerals and are therefore sometimes only explained in connection with one of the figures. Fig. 1 shows a motor vehicle with a steer-by-wire steering system and a drive train which in particular comprises a front-wheel drive 4 and a rear-wheel drive 5. The steer-by-wire steering system has a front-axle steering system 2 with a steering actuator 20 and a rear-axle steering system 3 with a steering actuator 84. During normal operation, the left front wheel FL and the right front wheel FR can be steered using the front-axle steering system 2. During normal operation, the left rear wheel RL and the right rear wheel RR can be steered using the rear-axle steering system 3. The front wheels FL, Fr each have a front wheel brake as the front brake 81 and the rear wheels RL, RR each have a rear wheel brake as the rear brake 81. In the embodiment shown in Fig.In the exemplary embodiment shown in Figure 1, the occurrence of a fault 25 relating to the front-axle steering system 2 is symbolically illustrated. This fault 25 can be caused, in particular, by an accident involving the motor vehicle, wherein the fault 25 leads to a failure of the front-axle steering system 2. To ensure that the motor vehicle can still be brought to a safe and steerable stop, the motor vehicle comprises an emergency steering system 1 designed to provide steering capability in the event of a failure of the front-axle steering system 2.The emergency steering system 1 comprises a control unit 6, which can in particular be identical to the control unit of the steer-by-wire steering system of the motor vehicle. The steering actuator 84 of the rear-axle steering system 3 and actuators 81, 82, 4, 5 of the motor vehicle outside the original steer-by-wire steering system are assigned to the control unit 6. A sensor unit for detecting a vehicle signal relating to a steering command 721 and further sensor units for detecting further vehicle signals are assigned to the control unit 6. By assigning the steering actuator 84 of the rear-axle steering system and the further actuators 81, 82, 4, 5 to the control unit 6, the control unit 6 can control these assigned actuators 84, 81, 82, 4, 5 and use them to implement a steering command 721.In this respect, the emergency steering system 1 is in particular an extension of the functionally impaired steer-by-wire steering system and comprises in particular, in addition to the front axle steering 2 affected by the error 25, the rear axle steering 3, the further actuators 81, 82, 4, 5 which are assigned to the control unit 6 of the emergency steering system 1, and the sensors which are assigned to the control unit 6 of the emergency steering system 1. In particular, the emergency steering system 1 according to the embodiment shown in Fig.1 is configured to detect a fault 25 of the front axle steering 2 and, in the event of a detected fault 25 of the front axle steering 2, to detect vehicle signals, in particular vehicle signals relating to a steering command 721, a position of a rack of the front axle steering 2 and a yaw rate 751 of the motor vehicle, with the associated sensor units, which are not explicitly shown in Fig.1, and to provide these detected vehicle signals to the control unit 6.The control unit 6 of the emergency steering system 1 is designed to receive the vehicle signals 721, 751 and, taking into account the received vehicle signals 721, 751, to generate control signals for the steering actuator 84 of the rear-axle steering system 3 and the other actuators 81, 82, 4, 5, i.e., in particular, the front brake 81, the rear brake 82, the front-wheel drive 4, and the rear-wheel drive 5, and to control these actuators 84, 81, 82, 4, 5 such that a received steering command 721 is implemented. A further, particularly advantageous exemplary embodiment of an emergency steering system 1 is shown as a block diagram in Fig. 2, wherein the exemplary implementation of a method according to the invention is also explained using the block diagram. In Fig.2 shows an emergency steering system 1 designed to provide steering capability for a motor vehicle having a steer-by-wire steering system with front-axle steering and rear-axle steering in the event of a front-axle steering failure, with a control unit 6, wherein a plurality of sensor units 7 and a plurality of actuators 8 are assigned to the control unit. In this exemplary embodiment, the sensor units 7 assigned to the control unit 6 include a sensor unit 71 for detecting actuation of a brake pedal and for detecting actuation of an accelerator pedal, a sensor unit 72 for detecting a steering command, a sensor unit 73 for detecting the position of a rack of the front-roof steering, a sensor unit 74 for detecting a vehicle speed, and a sensor unit 75 for detecting a yaw rate of the motor vehicle.In this exemplary embodiment, the actuators 8 assigned to the control unit 6 are a front brake 81, a rear brake 82, a damper unit 83 of the front-axle steering system, a steering actuator 84 of the rear-axle steering system, and a drive train 85 of the motor vehicle, in particular a front-wheel drive and a rear-wheel drive of the motor vehicle. In this exemplary embodiment, the damper unit 83 is provided so that an electric motor of a steering actuator of the front-axle steering system can be controlled via a short-circuit circuit such that the phases of the electric motor are short-circuited, thus damping the movement of the rack of the front-axle steering system.In addition, the control unit 6 is assigned a driving state determination device 10, which can advantageously access all vehicle signals of the motor vehicle and is used in particular for the operation of vehicle assistance systems of the motor vehicle, in particular an autonomous driving mode, so-called autopilot. This driving state determination device 10 is designed to provide the control unit 6 of the emergency steering system 1 with further input variables, in particular input variables relating to the driving state of the motor vehicle. The control unit 6 itself comprises various units for processing the signals received by the control unit 6.Thus, in this exemplary embodiment, the control unit 6 comprises a yaw controller 61, a unit 62 for determining a steering actuator signal, a unit 63 for determining a reference value for a yaw rate of the motor vehicle, a unit 64 for determining braking torque compensation, a unit 65 for calculating a respective brake pressure for the front brake 81 and the rear brake 82, a unit 66 for determining activation or deactivation of damping of the mobility of the rack of the front roof steering 2, and two units 67 for linking signals, in particular for adding or subtracting signals. If a fault in the front axle steering of the motor vehicle is detected, this exemplary embodiment provides for the emergency steering system 1 to execute a method for controlling the motor vehicle as described below.The sensor units 7 detect a vehicle signal 711 relating to an acceleration command, a vehicle signal 721 relating to a steering command, a vehicle signal 731 relating to a position of the rack of the front axle steering, a vehicle signal 741 relating to a vehicle speed, and a vehicle signal 751 relating to a yaw rate of the motor vehicle and provide these vehicle signals 711, 721, 731, 741, 751, 761 to the control unit 6. Furthermore, a vehicle signal 761 relating to the response of the front brake 81 of the motor vehicle is provided to the control unit 6. Furthermore, various vehicle signals 101, 102, 103, 104 relating to the driving state of the motor vehicle are provided to the control unit 6 by the driving state determination device 10. The driving state determination device 10 determines, in particular, whether braking torques need to be compensated.Furthermore, the driving state determination device 10 determines whether a switchover between front-wheel drive and rear-wheel drive is required with respect to the drive train 85. Furthermore, the driving state determination device 10 performs a road situation determination and, in particular, determines whether the motor vehicle is traveling on a highway, interurban, or in city traffic. The vehicle signals 711, 721, 731, 741, 751, 761, 101, 102, 103, 104 detected by the control unit 6 are fed to different units 61, 62, 63, 64, 65, 66 of the control unit 6, which then generate the control signals 91, 92, 93, 94, 95 for the actuators 81, 82, 83, 84, 85 and control the actuators 81, 82, 83, 84, 85 accordingly.Thus, the vehicle signal 711 relating to an acceleration command is forwarded to the unit 65 for calculating a respective brake pressure for the front brake 81 and the rear brake 82. The unit 65 generates a control signal 91 for controlling the front brake 81 and a control signal 92 for controlling the rear brake 82, taking into account vehicle signals 101 relating to the driving state of the motor vehicle and a reference value determined by the unit 63 for determining the reference value for the yaw rate. The front brake 81 and the rear brake 82 are then controlled according to the respective control signals 91, 92. The front brake 81 and the rear brake 82 are applied in a direction-dependent manner, depending on the steering command and the acceleration command, which indicates whether the vehicle should be braked or not.If the braking input serves to generate a yaw moment on the vehicle, a compensating torque can be applied, for which purpose the braking torque compensation determining unit 64 generates a corresponding control signal 95 for the drive train 85. The compensating torque generated by the control maintains the vehicle's speed and comes from the vehicle's drive train 85, in particular from the front-wheel drive or the rear-wheel drive. The switchover is determined in the driving state determining device 10, which is why the braking torque compensation determining unit 64 receives a corresponding vehicle signal 103 from the driving state determining device 10 and a vehicle signal 761 from the front brake 81 concerning the response of the front brake, and generates the control signal 95 for the drive train 85 taking these vehicle signals 103, 761 into account.However, in the event of a defective front-axle steering system, the rear-axle steering system becomes the main actuator for the steering, with the steering angle of the steered wheels of the rear axle being adjusted via the steering actuator 84 of the rear-axle steering system, and the steering actuator 84 being controlled by a control signal 94 generated by the control unit 6. In principle, in this exemplary embodiment, the steering actuator 84 is controlled by a forward steering component and a superimposed yaw controller that absorbs disturbances, such as, in particular, μ-split braking. A unit 62 for determining a steering actuator signal 621 determines a steering actuator signal 621, which is superimposed on the control signal 94 with a control signal 611 determined by a yaw controller 61.To determine the steering actuator signal 621, the unit 62 for determining the steering actuator signal 621 takes into account the received vehicle signal 721 concerning a steering input and the received vehicle signal 731 concerning a position of the rack of the front axle steering. To determine the control signal 611, the yaw controller 61 takes into account a superimposed signal from the reference value 631 for the yaw rate, which is determined by the unit 63 for determining the reference value for the yaw rate, and the sensor-detected yaw rate 751. The sensor-detected yaw rate 751 is subtracted from the reference value 631 for the yaw rate, and the result is provided to the yaw controller 61 as input variable 610.To determine the reference value 631 for the yaw rate, the unit 63 for determining the reference value for the yaw rate takes into account the vehicle signal 741 concerning a vehicle speed and signals provided by the unit 65 for calculating a respective brake pressure for the front brake 81 and the rear brake 82, in particular signals concerning the calculated brake pressure. Furthermore, the unit 66 for determining activation or deactivation of damping of the front roof steering generates a control signal 92, which activates or deactivates a damper unit 83 of the front axle steering.To determine whether the damper unit 83 should be activated and thus dampen a steering movement of the front axle, or whether the damper unit 83 should not be activated or deactivated, the unit 66 for determining activation or deactivation of damping of the front roof steering evaluates a vehicle signal 102 provided by the driving state determination device 10 regarding the driving state of the motor vehicle. The activation or deactivation of the damper unit 83 depends in particular on the driving maneuver detected as "desired" by the driving state determination device 10.In order to steer a vehicle in the event of a front-axle steering failure, the emergency steering system 1 in this exemplary embodiment thus uses the rear-axle steering via the steering actuator 84 of the rear-axle steering, yaw control, in particular for improved control of the steering actuator 84, targeted braking interventions on the front brake 81 and rear brake 82 by steer-by-brake, an adapted torque distribution through the targeted application of drive torque via the drive train 85, and, if necessary, brake pressure compensation. With reference to Fig. 3, a further exemplary embodiment for a two-track motor vehicle with a front left wheel FL, a front right wheel FR, a rear left wheel RL, a rear right wheel RR, and an emergency steering system 1 is explained in more detail.The emergency steering system 1 comprises a steer-by-wire steering system 11, wherein the steer-by-wire steering system 11 comprises a control unit 6, which can be designed in particular as a driver assistance system, which is designed to carry out a method for assisting the steering of the motor vehicle, in particular in the event that the steer-by-wire steering system 11 is faulty and a steering command cannot be implemented, or at least not solely, by controlling a steering actuator of the steer-by-wire steering system 11 which acts on the steerable wheels of the motor vehicle via a coupling rod, in particular due to a functional impairment of the front axle steering.For assisted steering, the control unit 6 comprises a unit 68 for determining a braking command, which is designed to control a brake 81L, 81R, 82L, 82R assigned to a respective wheel FL, FR, RL, RR of the motor vehicle, in order to thereby induce a desired yaw of the motor vehicle in accordance with a steering command. For this purpose, in this exemplary embodiment, a steering command input from a driver via a steering handle is detected by the steer-by-wire steering system 11, and a target yaw rate is provided by the control unit 6, taking into account the detected steering command.Using sensors 7, which are connected to the control unit 6 and are designed to detect various driving state information, a current actual yaw rate of the motor vehicle is determined and, taking into account the determined actual yaw rate, a braking specification for the brakes 81L, 81R, 82L, 82R is determined such that by a braking intervention, i.e. a targeted actuation in particular of the brakes 81L, 81R assigned to the front wheels FL, FR or the brakes 82L, 82R assigned to the rear wheels RL, RR, in accordance with the determined braking specification, the actual yaw rate is approximated to the target yaw rate. The control unit 6, in particular the unit 68 assigned to the control unit 6 for determining a braking input, determines in this exemplary embodiment as a braking input a braking pressure for the brakes 81L, 81R, 82L, 82R assigned to the wheels FL, FR, RL, RR.In this exemplary embodiment, depending on the situation, either the left brakes 81L, 82L are actuated with the specific brake pressure and the right brakes 81R, 82R with a brake pressure of zero, or the right brakes 81R, 82R with the specific brake pressure and the left brakes 81L, 82L with a brake pressure of zero. This is based on the idea that a force difference with respect to a longitudinal force ^. ^is to be generated in order to be able to achieve the desired target yaw rate. According to a first embodiment variant of the exemplary embodiment according to Fig. 3, it is provided that the determination of the braking input, i.e. in this exemplary embodiment the brake pressure of the brakes 81L, 81R, 82L, 82R of the motor vehicle, is determined based on a two-track model. In Fig. 4, for example, for three different steering angles SA1, SA2, SA3, which are shown in the diagram Fig. 4 (b) as angles in degrees over the vehicle speed in km / h (km: kilometer, h: hour), corresponding target yaw rates TLA1, TLA2, TLA3, which are shown in Fig. 4 (c) as acceleration in m / s 2(m: meter, s: second) over the vehicle speed in km / h, and certain brake pressures BP1, BP2, BP3, which are shown in diagram Fig. 4 (a) as pressure in bar over the vehicle speed in km / h, are specified. A steering input corresponding to the steering angle SA1 thus results in a target yaw rate TLA1 and a brake pressure BP1. In this design variant, a lower brake pressure is generated at a lower steering angle. Furthermore, it can be seen that in this design variant, the brake pressure decreases at higher driving speeds. The brake pressures result from the force difference ΔFX of the longitudinal forces ^ ^ based on the two-track model, where the force difference is determined with taking into account that neglecting the lateral load shift ^ ^^ = ^ ^^ and ^ ^^ = ^ ^^ , (with ^ ^^ or ^ ^^equal to 0), and solved for the stationary states = 0, ^̇ = 0 when combining the equations, ^ ^ ∗ ^ = ^ ∗ ^ ^ ^ ^ = Δ^ ^ , because the brakes are only applied on one wheel and^ ^ = 0 an dem other wheel, depending on whetherΔ^ ^ > 0 oder Δ^ ^ < 0, ^ ^ = ^ ^ ∗ ^(as requirement for the braking torque ^ ^ ) , und ^ = ^ ^ ∗^ ^ ^ (to determine the brake pressure).The following designations apply: ^ ^ : shear force, ^ ^ : Longitudinal force, CoG : Center of mass, ^: Lateral slip angle of the tire,^ : Steering angle of the wheel, ^ : Local speed, ^ : Slip angle of the chassis, ^̇: Yaw rate,^̈ : Yaw acceleration, ^: Vehicle mass,^ ^ : lateral tire stiffness, ^ : track width, ^ : distance to center of gravity, ^ ^ : Braking torque, ^: Wheel radius,^: Brake pressure,^ ^: Brake pressure to brake torque coefficient (to be determined experimentally), index "f": front, index "r": rear, index "1": left front, index "2": right front, index "3": left rear, index "4": right rear. The force difference determined according to the above formula is converted into brake pressure by the control unit 6 or the determination unit 68 assigned to the control unit 6, taking into account the wheel diameter of the wheels FL, FR, RL, RR and the so-called c_p value (brake pressure to torque). This brake pressure is scaled with a scaling factor less than 1, whereby a scaling factor with a value between 0.05 and 0.1 has proven particularly advantageous.In this embodiment, the control unit 6 is further configured to evaluate a current driving maneuver from driving state information, which can be determined in particular by means of the sensors 7, wherein the scaling factor is determined depending on the evaluation of the driving maneuver. In a second embodiment of the exemplary embodiment shown in Fig. 3, in contrast to the first embodiment, the braking specification is calculated, wherein a target yaw moment to be achieved is determined from the target yaw rate, which is proportional to the target yaw rate, and the target yaw moment is multiplied by a value for a current driving speed of the motor vehicle. In this second embodiment, the control unit 6 is configured to the force difference ΔFX of the longitudinal forces ^. ^according to the following relationship: = ^̈ ∗ ^ ∗ ^ ,where ^ is a constant used as an adjustment factor. pressure is then determined again as ^ = Der Brems ^ ^ . In Fig.5, according to this second embodiment variant, for three different steering angles SA1, SA2, SA3, which are shown in the diagram Fig.5 (b) as angles in degrees over the vehicle speed in km / h (km: kilometer, h: hour), corresponding target yaw rates TLA1, TLA2, TLA3, which are shown in Fig.5 (c) as acceleration in m / s 2(m: meter, s: second) over the vehicle speed in km / h, and certain brake pressures BP1, BP2, BP3, which are shown in diagram Fig.5 (a) as pressure in bar over the vehicle speed in km / h, are specified. The constant ^ was set to the value 95 in each case. The required brake pressure increases with speed so that the driver has the feeling that the vehicle is understeering more. This is advantageous when the main steering comes from the rear wheels and not the front wheels, particularly when, in the case of all-wheel steering, the front wheels can no longer be steered due to a fault, e.g. as a result of an accident. Fig.6a to Fig.6b each show an exemplary embodiment of a steering system in a motor vehicle with a front axle steering system 2 as the first steering system and a rear axle steering system 3 as the second steering system.The steering system is a steer-by-wire steering system 11, which can in particular be comprised of an emergency steering system, as already described. The front-axle steering system 3 of the steer-by-wire steering system 11 comprises a first steering actuator 20 for steering the front wheels FL, FR of the motor vehicle. The rear-axle steering system 3 of the steer-by-wire steering system 11 comprises a second steering actuator 84 for steering the rear wheels RL, RR of the motor vehicle. Furthermore, the steer-by-wire steering system 11 comprises a steering wheel as a steering handle 29. The target steering angles are preferably calculated from the speed of the motor vehicle and the position of the steering handle 29, particularly during normal operation of the steer-by-wire steering system 11.In particular, in the event of an at least partial failure of the front-axle steering system 2, a kinematic curve radius R1, R2 is assigned to a steering command, which serves as a basis, in particular, for determining the necessary steering angle correction for the fault-free rear-axle steering system 3. A driver of the motor vehicle can specify a steering command for steering the motor vehicle via the steering handle 29, wherein the steering command is advantageously assigned a kinematic radius R1, R2, which the motor vehicle follows as a result of the steering command. Alternatively, a steering command can also be specified by a driver assistance system 28 of the motor vehicle.The steer-by-wire steering system 11 of the motor vehicle also comprises a first sensor unit 76 for detecting a current first wheel steering angle ^_Ist of the front wheels FL, FR, i.e., a wheel steering angle actually assumed by the front wheels FL, FR, and a second sensor unit 77 for detecting a current second wheel steering angle of the rear wheels RL, RR, i.e., a wheel steering angle actually assumed by the rear wheels RL, RR. The sensor units 76, 77 are connected to a control unit 6 of the steer-by-wire steering system 11. This control unit 6 is designed to determine a first target steering angle ^_Soll for the front wheels FL, FR and a second target steering angle β_Soll for the rear wheels RL, RR of the motor vehicle from the detected steering input.Furthermore, the control unit 6 is configured, in the event of a functional impairment of the front-axle steering system 2, to control the steering actuator 84 of the rear-axle steering system 3 of the steer-by-wire steering system 11, taking into account the first target steering angle ^_target for the front wheels FL, FR, the second target steering angle β_target for the rear wheels RL, RR, and the first wheel steering angle ^_Ist detected by the first sensor unit 76, such that it sets a second wheel steering angle β_adapt for the rear wheels RL, RR to implement the steering command. The steer-by-wire steering system 11 is illustrated in Fig. 6a to Fig. 7b in different driving situations. Fig.6a shows the steer-by-wire steering system 11 in a fault-free normal operating mode, in which a detected steering command with an assigned kinematic radius R1 is implemented solely by the front axle steering 2.The rear axle steering 3 does not change the wheel steering angle of the rear wheels RL, RR to implement the steering command. In Fig. 6a, the second target steering angle β_Soll for the rear wheels RL, RR is therefore set to 0°. A target steering angle ^_Soll for the front wheels FL, FR determined to implement the steering command corresponds to the first wheel steering angle ^_Ist detected by sensors. For example, due to a collision in which a steering gear of the steer-by-wire steering system 11 was damaged, the situation may arise that the front axle steering 2 is no longer fully functional and the front wheels FL, FR can no longer be adjusted via the steering actuator 20 so that they can assume the first target steering angle ^_Soll to implement the detected steering command. Such a situation is shown in Fig. 6b. Here, the same kinematic radius R1 as in Fig.6a should be implemented to fulfill the steering requirement.Due to the damage to the front axle steering 2, the front wheels FL, FR do not adopt the target steering angle ^_Soll determined by the control unit 6, but only the wheel steering angle ^_Ist, which is detected by the sensor unit 76. The control unit 6 detects the impairment of the front axle steering 2 and then determines a wheel steering angle β_adapt for the rear wheels RL, RR, taking into account the previously determined first target steering angle ^_Soll, which corresponds to the angle ^_Soll shown in Fig. 6a for the front wheels FL, FR, and taking into account the actual first wheel steering angle ^_Ist detected by the sensor unit 76, and sets this angle β_adapt using the steering actuator 84 of the rear axle steering 3. The wheel steering angle is determined according to ^. ^^^^^ = atan(tan If this angle can be precisely adjusted, the motor vehicle can be steered according to the steering input with the same kinematic radius R1, as shown in Fig. 6a. Otherwise, at least the steering behavior of the motor vehicle in the case according to Fig. 6b can be improved and approximated to the steering behavior of the motor vehicle in the case according to Fig. 6a, in particular in a case not shown here when the determined steering angle β_adapt is greater than an adjustable steering angle. In this case, the steering movement of the motor vehicle is advantageously brought further closer to the originally desired steering movement of the motor vehicle and thus to the original steering input by targeted braking and a deliberately introduced yaw rate, in particular as described in the exemplary embodiments already explained. Fig.Figure 7a shows the steer-by-wire steering system 11 in another normal operating situation, in which, to implement a steering command with an associated kinematic radius R2, a first target steering angle ^_Soll, different from 0°, is determined for the front wheels FL, FR, and a second target steering angle β_Soll, different from 0°, is determined for the rear wheels RL, RR. The determined target steering angles ^_Soll, β_Soll are then adjusted accordingly using the steering actuators 20, 84 during fault-free operation.If a functional impairment of the front axle steering 2 occurs here, so that a detected first wheel steering angle ^_Ist turns out to be smaller than a first target steering angle ^_Soll determined for the front wheels FL, FR, the control unit 6 of the steer-by-wire steering system 11 determines an adapted second wheel steering angle β_adapt to be set by means of the steering actuator 84 of the rear axle steering 3, taking into account the first target steering angle ^_Soll determined to implement the steering specification for the error-free case, taking into account the second target steering angle β_Soll determined to implement the steering specification for the error-free case and the first wheel steering angle ^_Ist detected by means of the sensor unit 76, which second wheel steering angle β_adapt is to be set by means of the steering actuator 84 of the rear axle steering 3, which replaces the target specification for the originally determined target steering angle β_Soll. This second wheel steering angle β_adapt is determined as ^. ^^^^^ = atan(tan Here, too, as already explained in relation to Fig. 6a, the kinematic radius R2 associated with the steering input can be precisely implemented at least when this second wheel steering angle β_adapt can be adjusted. Otherwise, the steering input is at least approximated in an improved manner, in particular in a corresponding manner, as already explained for the error case described with reference to Fig. 6b. The exemplary embodiments illustrated in the figures and explained in connection with them serve to illustrate the invention and are not limiting it.

[0002] List of reference symbols 1 Emergency steering system 11 Steer-by-wire steering system 2 Front axle steering 20 Steering actuator of the front axle steering 25 Front axle steering error 28 Driver assistance system 29 Steering handle 3 Rear axle steering 4 Front-wheel drive 5 Rear-wheel drive 6 Control unit 61 Yaw controller 610 Input variable of the yaw controller (61) 611 Control signal of the yaw controller (61) 62 Unit for determining the steering actuator signal 621 Steering actuator signal 63 Unit for determining the reference value for the yaw rate 631 Determined reference value for the yaw rate 64 Unit for determining brake torque compensation 65 Unit for calculating a respective brake pressure for the front brake (81) and the rear brake (82) 66 Unit for determining activation / deactivation of damping of the front roof steering (2) 67 Unit for linking signals 68 Unit for determining a braking command 7 Sensor units 71 Sensor unit for detecting the actuation of a brake pedal / accelerator pedal 72 Sensor unit forDetection of a steering command 73 Sensor unit for detecting the position of a rack of the front roof steering (2) 74 Sensor unit for detecting the vehicle speed 75 Sensor unit for detecting the yaw rate of the motor vehicle 76 Sensor unit for detecting a current first actual wheel steering angle of the front wheels 77 Sensor unit for detecting a current second actual wheel steering angle of the rear wheels 711 Vehicle signal relating to an acceleration command 721 Vehicle signal relating to a steering command 731 Vehicle signal relating to a position of the rack of the front axle steering 741 Vehicle signal relating to a vehicle speed 751 Vehicle signal relating to a yaw rate of the motor vehicle 761 Vehicle signal relating to the response of a front brake (81) 8 Actuators of the motor vehicle 81 Front brake 81L Left front brake 81R Right front brake 82 Rear brake 82L Left rear brake 82R Right rear brake 83 Damper unit of the Front axle steering(2) 84 Steering actuator of the rear axle steering (3) 85 Drive train 91 Control signal for the front brake (81) 92 Control signal for the rear brake (82) 93 Control signal for a damper unit (83) of a rack of the front axle steering 94 Control signal for the steering actuator (84) of the rear axle steering (3) 95 Control signal for the drive train (85) 10 Driving state determination device 101 Vehicle signal relating to the driving state of the motor vehicle 102 Vehicle signal relating to the driving state of the motor vehicle 103 Vehicle signal relating to the driving state of the motor vehicle 104 Vehicle signal relating to the driving state of the motor vehicle FL Left front wheel FR Right front wheel RL Left rear wheel RR Right rear wheel L Axle distance between the first axle (5) and the second axle (8) R1, R2 Kinematic curve radius assigned to a steering input ^_Target first Target steering angle for the first wheels ^_Ist first (measured) wheel steering angle of the first wheels β_Soll secondTarget steering angle for the second wheels β_adapt second wheel steering angle of the second wheels

Claims

Claims 1. Method for controlling a motor vehicle having a steer-by-wire steering system with a front-axle steering system (2) and a rear-axle steering system (3) in the event of a detected fault (25) in the front-axle steering system (2), wherein vehicle signals relating to a steering command (721), a position (731) of a rack of the front-axle steering system (2) and a yaw rate (751) of the motor vehicle are detected, the detected vehicle signals (721, 731, 751) are provided to a control unit (6), the control unit (6) generates a first control signal (94) for controlling a steering actuator (84) of the rear-axle steering system (3) in order to implement the steering command, wherein the first control signal (94) is generated taking into account the steering command (721), the position (731) of the rack of the front-axle steering system (2) and the yaw rate (751), and the steering actuator (84) of the rear axle steering (3) is controlled with the generated first control signal (94). 2.Method according to claim 1, characterized in that, in order to implement the steering command, the control unit (6) generates a second control signal (91, 92) for controlling a front brake (81) of the motor vehicle and / or a rear brake (82) of the motor vehicle, wherein the front brake (81) and / or the rear brake (82) are controlled with the generated second control signal (91, 92).

3. Method according to claim 2, characterized in that, in addition, a vehicle signal relating to an acceleration command (711) is detected, wherein, taking into account the acceleration command (711), a brake pressure for the front brake (81) and / or the rear brake (82) is calculated as the second control signal (91, 92). 4.Method according to claim 3, characterized in that a vehicle signal relating to a vehicle speed (741) is additionally detected, wherein a reference value (631) for a yaw rate of the motor vehicle is determined taking into account the vehicle speed (741) and the calculated brake pressure.

5. The method according to one of the preceding claims, characterized in that, taking into account the steering input (721) and the position (731) of the rack of the front-axle steering (2), a steering actuator signal (621) is generated for the steering actuator (84) of the rear-axle steering (3); a yaw controller (61) generates a control signal (611) for determining a torque distribution at wheels (FL, FR, RL, RR) of the motor vehicle, taking into account the yaw rate of the motor vehicle; and the first control signal (94) is generated from a superposition of the steering actuator signal (621) and the control signal (611).

6. The method according to claim 4 and claim 5, characterized in that the yaw controller (61) is provided with a difference between the detected vehicle signal relating to the yaw rate (751) of the motor vehicle and the determined reference value (631) for the yaw rate as an input variable (610).Method according to one of the preceding claims, characterized in that a specification regarding a target yaw rate of the motor vehicle to be achieved is provided, a braking specification for at least one of the wheels (FL, FR, RL, RR) of the motor vehicle is determined, taking into account a current actual yaw rate of the motor vehicle, to approximate the actual yaw rate to the target yaw rate, and a braking intervention is carried out in accordance with the determined braking specification.

8. Method according to claim 7, characterized in that the braking specification is determined based on a two-track model, wherein the specification regarding the target yaw rate is supplied to the two-track model as an input variable, and using the two-track model for an assumed stationary state of the motor vehicle as an output variable, a resulting braking torque difference between the wheels (FL, FR, RL, RR) is determined, wherein the braking specification is determined from the braking torque difference. 9.Method according to claim 7 or claim 8, characterized in that a scaling factor is applied to the determined braking torque difference, wherein the scaling factor is less than 1, and in particular is set with a value in a range from 0.05 to 0.2, wherein the scaling factor is preferably set with a higher value the lower the steering effect that can still be provided by the steering system.

10. The method according to one of the preceding claims, characterized in that a vehicle signal relating to the response (761) of a front brake (81) of the motor vehicle is additionally detected and provided to the control unit (6), wherein the control unit (6), taking into account the response (761) of the front brake (81) of the motor vehicle, generates a braking torque compensation as a third control signal (95), and a drive train (85) of the motor vehicle is controlled with the third control signal (95).

11. The method according to one of the preceding claims, characterized in that a movement of the rack of the front-axle steering (2) is damped. 12.Method according to one of the preceding claims, characterized in that a driving state determination device (10) determines a driving state (101, 102, 103, 104) of the motor vehicle, taking into account available vehicle signals (711, 721, 731, 741, 751, 761), wherein the determined driving state (101, 102, 103, 104) is provided to the control unit (6).

13. Method according to claim 12, characterized in that the control unit (6) takes the driving state (101, 102, 103, 104) into account for generating at least one of the control signals (91, 92, 93, 94, 95). 14.Method according to one of the preceding claims, characterized in that in addition a first wheel steering angle ( ^_Ist) of the front wheels (FL, FR) is detected and, using the rear axle steering (3) to implement the steering command (721), a second wheel steering angle (β_adapt) of the rear wheels (HL, HR) is set, a first target steering angle ( ^_Soll) for the front wheels (FL, FR) and a second target steering angle (β_Soll) for the rear wheels (RL, RR) are determined from the detected steering command (721), and the second wheel steering angle (β_adapt) is determined taking into account the determined first target steering angle ( ^_Soll), the determined second target steering angle (β_Soll) and the detected first wheel steering angle ( ^_Ist).

15. Method according to claim 14, characterized in that the second wheel steering angle (β_adapt) is determined using. ^ ^^^^^ = atan(tan wobei ^ ^^^^^ =second wheel steering angle,^ ^^^^= first target steering angle for the front wheels; ^ ^^^^ = second target steering angle for the rear wheels; and ^ ^^^= recorded first wheel steering angle.

16. Emergency steering system (1) for providing steering capability of a motor vehicle having a steer-by-wire steering system with a front-axle steering system (2) and a rear-axle steering system (3) in the event of failure of the front-axle steering system (2), comprising a control unit (6), wherein the control unit (6) is assigned a steering actuator (84) of the rear-axle steering system (3) and actuators (8) of the motor vehicle outside the steer-by-wire steering system, and wherein the control unit (6) is assigned a sensor unit (72) for detecting a vehicle signal relating to a steering command and further sensor units (71, 73, 74, 75) for detecting further vehicle signals, wherein the control unit (6) is designed to receive vehicle signals (711, 721, 731, 741, 751) from the assigned sensor units (7) and to determine from the received vehicle signals (711, 721, 731, 741, 751) for implementing the received steering command (721) control signals (91, 92, 93, 94,95) for the steering actuator (84) of the rear-axle steering (3) assigned to the control unit (6) and the actuators (8) of the motor vehicle outside the steer-by-wire steering system.

17. Emergency steering system (1) according to claim 16, characterized in that the further sensor units (71, 73, 74, 75) comprise at least one of the following sensor units: Sensor unit (71) for detecting the actuation of a brake control element; Sensor unit (71) for detecting the actuation of an acceleration control element; Sensor unit (73) for detecting the position of a rack of the front-roof steering; Sensor unit (74) for detecting the vehicle speed; Sensor unit (75) for detecting the yaw rate (751) of the motor vehicle.

18. Emergency steering system (1) according to claim 16 or claim 17, characterized inthat the actuators of the motor vehicle outside the steer-by-wire steering system comprise at least one of the following actuators: front brake (81) of the motor vehicle; rear brake (82) of the motor vehicle; drive train (85) of the motor vehicle., 19. Emergency steering system (1) according to one of claims 16 to 18, characterized in that the control unit (6) is additionally assigned a short-circuit circuit of an electric motor of a steering actuator (20) of the front-axle steering (2), wherein the short-circuit circuit, when activated, is designed to short-circuit phases of the electric motor and thus dampen a movement of the rack of the front-axle steering (2).

20. Emergency steering system (1) according to one of claims 16 to 19, characterized in that the control unit (6) is additionally assigned a driving state determination device (10), wherein the driving state determination device (10) is designed to determine a driving state of the motor vehicle taking into account detected vehicle signals (711, 721, 731, 741, 751) and to provide it as a further input signal to the control unit (6), wherein the control unit (6) is further designedto take into account the provided driving state for the generation of at least one of the control signals (91, 92, 93, 94, 95). 21 Emergency steering system (1) according to one of claims 16 to 20, characterized in that the emergency steering system (1) additionally comprises a sensor unit (76) for detecting a current first wheel steering angle ( ^_Ist) of the front wheels (FL, FR), wherein the control unit (6) is further designed to determine a first desired steering angle ( ^_Soll) for the front wheels (FL, FR) and / or a second desired steering angle (β_Soll) for the rear wheels (RL, RR) of the motor vehicle from the steering specification (721), and is further designed, in the event of an at least partial failure of the front axle steering (2), taking into account the first desired steering angle ( ^_Soll) for the front wheels (FL, FR) and / or taking into account the second desired steering angle (β_Soll) for the rear wheels (RL,RR) and the detected first wheel steering angle ( ^_Ist) to control the steering actuator (84) of the rear-axle steering (3) in such a way that it sets a second wheel steering angle (β_adapt) for the rear wheels (7) to implement the steering command.

22. Emergency steering system (1) according to one of claims 16 to 21, characterized in that the emergency steering system (1) is designed to carry out a method according to one of claims 1 to 15.,

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