Method for operating actuator assembly, actuator assembly, and motor vehicle

Abstract

To provide a method for operating an actuator assembly for a motor vehicle, in particular.SOLUTION: The actuator assembly includes: at least two operation-controllable actuators; and an operation control system. The operation control system includes: at least two control devices, which are each assigned to one of the actuators; and a central control device connected to each of the control devices by means of communication technology by communication links. The central control device monitors the operation control system for occurrence of a malfunction, and monitors an operating state of each actuator. Upon recognizing a malfunction of the operation control system affecting one of the actuators, the central control device causes the control device assigned to the affected actuator to directory operation-control the affected actuator depending on the operating state of the other actuator detected by the monitoring.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The invention relates to a method for operating an actuator assembly, in particular an actuator assembly for a motor vehicle, which comprises at least two controllably operable actuators and a control system having at least two control devices assigned to each of the actuators and a central control device which are each connected by a communication technical connection to the control devices, and which are controlled by the central control device to operate the respective actuators in an error-free normal operating mode of the actuator assembly.

[0002] The invention further relates to an actuator assembly and to a motor vehicle equipped with an actuator assembly of this kind. [Background technology]

[0003] Methods of the initially mentioned form are known in the prior art. For example, actuator assemblies for braking systems of motor vehicles are known, in which at least one actuator, in each case configured as a wheel brake actuator, in particular an electromechanical wheel brake actuator, is assigned to each one of the four wheels of the motor vehicle. Each of the actuators is assigned a dedicated control device, which is usually operated by at least one central control device arranged remotely from the actuators. In particular, a separate central control device is assigned to each two of the wheels of the motor vehicle, for example per axle or crosswise, which central control devices are responsible for the two wheel brake actuators in that respect. The central control device usually takes over the brake force distribution of the entire vehicle by corresponding commands to the control devices assigned to the actuators. In order to increase the failure safety of the actuator assemblies, it is known to configure components redundantly in order to compensate for failures of individual components and / or subsystems. Summary of the Invention

[0004] The method according to the invention with the features of claim 1 is characterized in that the motion control system is monitored for malfunctions, the operating state of each actuator is monitored and, upon recognition of a malfunction of the motion control system for one of the actuators, the actuator in question is directly controlled by a control device assigned to this actuator as a function of the monitored operating state of the other actuator. As a result, compared to the actuator assemblies mentioned at the beginning, the failure safety is advantageously further improved in the event of malfunctions of the motion control system without complex redundancies. The method is based in this respect on the idea that, in the event of a malfunction, the control device assigned to the actuator in question detects the operation of the other actuator, in particular by means of a corresponding sensor, and the actuator is switched on automatically, for example without the need for data exchange with a central control device. In particular, the operating state is monitored and / or detected by a sensor signal of the actuator assembly, in particular of at least one sensor assigned to the actuator in question. Preferably, the central control device and / or the communication connection between the central control device and the plurality of control devices is monitored for malfunctions. Particularly preferably, the central control device is configured to receive signals from at least one further control device, in particular one further central control device, assigned to the vehicle assistance system, in particular a vehicle assistance system for automated and / or autonomous driving, at least one actuator and / or at least one sensor detecting the actuation of the actuator, and to control at least one of the control devices in response to the signals. Preferably, in this case, at least one corresponding communication connection between the central control device and the further control device, in particular the further central control device, the actuator and / or the sensor is monitored for the occurrence of malfunctions. Malfunctions of this kind are also at least indirectly related to the corresponding actuators. For example, the actuators are configured as a brake pedal, an accelerator pedal and / or a steering wheel, in particular a steering wheel, by actuation of which a braking request, an acceleration request and / or a steering request are pre-set and transmitted to the central control device.In particular, a braking request, an acceleration request and / or a steering request can be pre-set by the central control device and / or by a further control device, in particular by a further central control device, and / or such requests are pre-set and transmitted to the central control device. Alternatively or additionally, the central control device is itself part of a vehicle assistance system, in particular a vehicle assistance system for automated and / or autonomous driving, and a signal can be pre-set and / or is pre-set by the central control device, in particular in the form of a braking request, an acceleration request and / or a steering request, and at least one of the control devices can be and / or is actuated in response to the signal.

[0005] According to a preferred development of the invention, the actuator is assigned to one or each one operable device, in particular a wheel brake device, a drive device and / or a steering device for at least one wheel or axle of the motor vehicle, and each device is provided to be operated by the control device when controlling the operation of the actuator. With such an assignment of actuators, the advantages of the method according to the invention are particularly outstanding. For example, for each of a number of, in particular four, wheels of the motor vehicle, a corresponding actuator is provided with such a device. The scope of use of the device covers, in particular, applications in the automotive field, aviation technology, rail vehicle technology and / or medical engineering.

[0006] Particularly preferably, the actuators are configured as electromechanical actuators, each having an electric machine, and it is provided that the operating states of the actuators are monitored by means of a current sensor and / or a rotor position sensor assigned to the respective electric machine. Monitoring with such sensors has the advantage that the operating states are determined particularly simply and reliably. For example, a sensor assigned to a given actuator is used to indirectly monitor the operating states of other, non-relevant actuators. In particular, the sensor signals of said one or more sensors are evaluated. For example, the sensor signals of such sensors are evaluated by a control device assigned to the actuator for precise operational control of the actuator, even in the normal operating mode.

[0007] According to a preferred development of the invention, it is provided that the operating states of the actuators are monitored by means of an acceleration sensor and / or an acoustic sensor assigned to the respective actuator. Monitoring with such sensors has the advantage that the operating states are detected particularly simply and reliably. For example, a sensor assigned to the actuator in question is used to indirectly monitor the operating states of other, non-relevant actuators. In particular, the sensor signals of one or more of the abovementioned sensors are evaluated. Preferably, a combination of different sensors is used, for example additionally using one of the abovementioned current sensors and / or rotor position sensors in order to further increase the accuracy when detecting the operating states.

[0008] Particularly preferably, the operating state of the actuators is monitored by wheel speed sensors, steering angle sensors, position sensors of the steering transmission rack and / or ground force sensors assigned to the wheels of the vehicle assigned to the respective actuators, and / or the operating state is monitored as a function of the drive force, drive moment, brake force and / or brake moment acting on the wheels. Monitoring with such sensors detects variables directly assigned to the wheels, which has the advantage of further improving the accuracy of the detection of the operating state for each individual actuator. For example, a corresponding sensor of the wheel assigned to the actuator is used to indirectly monitor the operating state of the other, non-corresponding actuators. In particular, when the actuators are assigned to one or each one wheel brake device or drive device, the wheel speed of the wheel assigned to the actuator is detected, as described above, in order to recognize the operating control of the non-corresponding actuator. Preferably, a combination of different sensors is used, for example additionally using one of the above-mentioned current sensors, rotor position sensors, acceleration sensors and / or acoustic sensors in order to further improve the accuracy of the detection of the operating state.

[0009] According to a preferred development of the invention, when a malfunction is detected, the respective control device is switched from a normal operating mode to an error operating mode and the sensor signals of the sensors assigned to the actuators are monitored in the error operating mode in order to determine whether at least one further actuator of the actuators of the actuator assembly is controlled in response to the sensor signals. The error operating mode advantageously ensures that the monitoring of the sensor signals is carried out only as necessary and thus resource-efficiently, in particular energy-efficiently. The monitoring of the sensor signals thereby provides a particularly advantageously simple and robust way of indirectly detecting the corresponding control of the controlled actuators without requiring a communication connection of the controlled actuators with the corresponding control devices.

[0010] Particularly preferably, upon recognition of the control of at least one further actuator, the actuator involved in the malfunction of the control system is controlled by the control device assigned to this actuator in order to assist the further actuator, with the advantage that the actuator reliably fulfills the task assigned to it, in particular the operation of the corresponding device, for example together with the further actuator, without communication-technical coordination of the control devices involved.

[0011] According to a preferred development of the invention, it is provided to interrupt the control of the actuator after a preset period and to decide whether and how to continue the control depending on the sensor signals determined after the interruption, in particular by comparing the sensor signals before the start of the control with those after the interruption, thereby advantageously ensuring that the control of the actuator is carried out case-by-case and in particular energy-efficiently, in particular recognizing whether the previous control of the actuator was sufficient or whether the control strategy must be adapted.

[0012] Particularly preferably, it is provided that the control of the actuator is carried out without interruption and that depending on the continuously determined sensor signals, it is decided whether and how to continue the control, in particular by comparing the sensor signals before the start of the control and during the control, thereby advantageously ensuring that the control of the actuator is carried out continuously and in particular that it is recognized whether the control of the actuator up to now has been sufficient or whether the control strategy has to be adapted.

[0013] According to a preferred development of the invention, it is provided that, upon recognition of a malfunction and the control of at least one further actuator, this further actuator is controlled more strongly at least for a preset period of time. The actuator is then over-activated at least in a time-limited manner, so that, for example, the malfunction can be advantageously temporarily compensated for until the actuator involved in the malfunction is controlled, as described above, by the control device assigned to this actuator with the increased impulse triggered thereby, to assist the further actuator. In particular, the actuator involved in the malfunction is monitored for a corresponding control to assist the further actuator, and as soon as this is recognized, the stronger control is canceled. In this respect, the reaction time is advantageously shortened and even the control of the actuator is advantageously ensured that the actuator assembly can be operated further without losses. For example, when the actuators are respectively assigned to wheel brake devices, the further actuator is controlled by the wheel brake device to generate an increased vehicle deceleration until the corresponding actuator is operated to assist the wheel brake device.

[0014] Particularly preferably, in an error operating mode, it is provided that an error notification is output, in particular on a display device, which has the advantage that the error operating mode is reliably communicated to the outside, for example in a manner that can be perceived by a user of the actuator assembly.

[0015] An actuator assembly with the features of claim 12, in particular an actuator assembly for a motor vehicle, comprises at least two actuators whose operation can be controlled and a control system which has at least two control devices assigned to each of the actuators and a central control device which is connected in communication technology to the control devices respectively by communication connections. The actuator assembly is characterized in that at least one of the control devices is specially designed to carry out the method according to the invention. This results in the advantages already mentioned.

[0016] A motor vehicle having the features of claim 13 is characterized by an actuator assembly according to the invention, which also results in the advantages already mentioned.

[0017] Further preferred features and feature combinations are evident from the above description and the claims.The invention will now be explained in more detail with reference to the drawings, in which: FIG. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 illustrates an advantageous actuator assembly. [Diagram 2] FIG. 13 illustrates a method of operating the actuator assembly. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] 1 shows a motor vehicle 1 equipped with an advantageous actuator assembly 2. In order to demonstrate various possibilities, the actuator assembly 2 here comprises a number of components, all of which together can be operated in a manner to be further explained below, although this specific combination is not required.

[0020] Here, the actuator assembly 2 comprises a number of controllable actuators 3-1 to 3-8, each of which is assigned to a front axle 4 or a rear axle 5 of the vehicle and, at least indirectly, to at least one wheel 6-1 to 6-4 of the vehicle 1.

[0021] The actuator assembly 2 further comprises a motion control system 7 having a number of control devices 8-1 to 8-8 assigned to each of the actuators and two central control devices 9-1 and 9-2 which are communication-technically connected to a number of the control devices 8-1 to 8-8, respectively, as shown diagrammatically by corresponding connecting lines.

[0022] In this case, the actuator assembly 2 comprises, as a minimum prerequisite for the method, two of the actuators 3-1 to 3-8 which can be controlled in motion, and a motion control system 7 which has two of the controllers 8-1 to 8-8 assigned to each of the other actuators 3-1 to 3-8, and one of the central controllers 9-1 and 9-2, although neither the arrangement presented here within the motor vehicle 1 nor the formation presented here for the motor vehicle 1 is mandatory.

[0023] Each of the actuators 3-1 to 3-8 is assigned one or respectively one operable device 10-1 to 10-7, and the devices 10-1 to 10-7 are configured to be operated and controlled by respective control devices 8-1 to 8-8 when controlling the operation of the respective actuators 3-1 to 3-8.

[0024] Finally, the actuators 3-1 to 3-8, the devices 10-1 to 10-7 and / or the wheels 6-1 to 6-4 are furthermore assigned sensor assemblies 11-1 to 11-7 each having at least one sensor, the sensor assemblies 11-1 to 11-7 being configured to detect corresponding sensor variables, in particular sensor variables representative of the respective operating states of the actuators 3-1 to 3-8.

[0025] In a specific embodiment, the actuators 3-1 to 3-4 are respectively assigned to exactly one of the wheels 6-1 to 6-4 and to one of the devices 10-1 to 10-4, the devices 10-1 to 10-4 being in particular formed as wheel braking devices for one of the wheels 6-1 to 6-4, respectively. Alternatively or additionally, the devices 10-1 to 10-4 are formed as drive and / or steering devices.

[0026] The actuators 3-5 and 3-6 are correspondingly assigned devices 10-5 and 10-6, which are formed in particular as wheel brake devices providing a parking brake function and are arranged on the same wheel 6-3 or 6-4 together with a respective one of the devices 10-3 and 10-4, which are also formed as wheel brake devices providing a service brake function.

[0027] The actuators 3-7 and 3-8 are collectively assigned to a device 10-7, which is formed in particular as a steering device for both wheels 6-1 and 6-2 formed as front wheels. Each pair of actuators 3-1 to 3-8 and devices 10-1 to 10-7 thus formed is here assigned precisely one of the sensor assemblies 11-1 to 11-7 and at least in particular one of the control devices 8-1 to 8-8.

[0028] Here, the central control devices 9-1 and 9-2 are evenly distributed among the control devices 8-1 to 8-8, with the central control device 9-1 being communicatively connected to at least the control devices 8-1, 8-2, 8-7 and 8-8, and the central control device 9-2 being communicatively connected to at least the control devices 8-3, 8-4, 8-5 and 8-6.

[0029] In particular, further communication connections, not shown for reasons of clarity, exist between the individual control devices 8-1 to 8-8, the sensor assemblies 11-1 to 11-7 and / or the central control devices 9-1 and 9-2.

[0030] An advantageous method for operating the actuator assembly 2 is explained below with reference to Fig. 2. For this purpose, Fig. 2 illustrates the method on the basis of a flow chart. In particular, the method ensures that the actuator assembly 2 exhibits a high degree of failure safety.

[0031] In step S1, the method starts in an error-free normal operating mode of the actuator assembly 2 by the control devices 8-1 to 8-8 being operated and controlled by a central control device 9-1 or 9-2 assigned to the control devices 8-1 to 8-8 to operate and control the respective actuators 3-1 to 3-8 of the control devices 8-1 to 8-8, in particular depending on the braking, acceleration and / or steering presets for the vehicle 1.

[0032] Furthermore, the motion control system 7 is monitored for the occurrence of malfunctions, in particular for the failure of one of the central control devices 9-1 and 9-2, for example due to the failure of a corresponding current supply and / or due to the failure of one of the communication connections between one of the central control devices 9-1 and 9-2 and one of the control devices 8-1 to 8-8.

[0033] Upon recognition of a malfunction of the motion control system 7 for one of the actuators 3-1 to 3-8 (e.g. when one of the control devices 8-1 to 8-8 assigned to that actuator 3-1 to 3-8 no longer receives or can receive motion control signals from the corresponding central control device 9-1 or 9-2), the method continues with step S2, where an error indication is preferably output, in particular on a display device assigned to the driver of the motor vehicle 1.

[0034] In step S2, the operating state of each of the actuators 3-1 to 3-8 is monitored by the corresponding sensor assemblies 11-1 to 11-7, preferably by at least one, in particular all, of the control devices 8-1 to 8-8 assigned to the same type of devices 10-1 to 10-7 and / or actuators 3-1 to 3-8, respectively.

[0035] Preferably, for this purpose, at least one of the control devices 8-1 to 8-8 is transitioned from a normal operation mode to an error operation mode, in which a sensor signal of a sensor of the corresponding sensor assembly 11-1 to 11-7 is monitored to recognize whether or not at least one other actuator of the actuators 3-1 to 3-8 is controlled in operation in response to the sensor signal.

[0036] Preferably, at least one of the actuators 3-1 to 3-8 is formed as an electromechanical actuator, having an electric machine, which monitors said operating state and said operational control recognition of the corresponding actuator 3-1 to 3-8, in particular by means of a current sensor and / or a rotor position sensor assigned to the electric machine as part of the respective sensor assembly 11-1 to 11-7.

[0037] Alternatively or additionally, said operating states and said perception of the motion control are monitored, in particular by means of acceleration and / or acoustic sensors assigned to each actuator 3-1 to 3-8.

[0038] Also alternatively or additionally, the driving state and the recognition of the operational control are preferably monitored by wheel speed sensors, steering angle sensors, rack position sensors of the steering transmission mechanism and / or ground force sensors assigned to the wheels 6-1 to 6-4 assigned to the respective actuators 3-1 to 3-8 and / or the driving state and the recognition of the operational control are monitored as a function of the driving forces, driving moments, braking forces and / or braking moments acting on the wheels 6-1 to 6-4.

[0039] If control of the operation of at least one actuator 3-1 to 3-8 other than the one to which the corresponding actuator 3-1 to 3-8 is assigned, of the same type of device 10-1 to 10-7, in this case in particular the wheel braking device, the steering device and / or the drive device, is thus recognized, the method continues with step S3.

[0040] In step S3, the actuators 3-1 to 3-8 involved in the malfunction of the motion control system 7 are directly controlled by the control devices 8-1 to 8-8 assigned to these actuators 3-1 to 3-8 in order to assist the other actuators 3-1 to 3-8 in accordance with the operating conditions of the other actuators 3-1 to 3-8 detected by monitoring.

[0041] 1, for example, when the actuators 3-1 to 3-4 are respectively assigned to devices 10-1 to 10-4 formed as wheel brake devices, in the event of a failure of the communication connection between the control device 8-1 and the central control device 9-1, the sensor assembly 11-2 assigned to the actuator 3-2 or to the device 10-2 can be monitored by the control device 8-1 accordingly in order to directly recognize the operating state of the actuator 3-2 and thus the brake preset, for example a sudden drop in the wheel speed and / or a pitch movement or deceleration of the vehicle 1 by means of a sensor signal of an acceleration sensor. Alternatively or additionally, in particular the sensor assembly 11-1 assigned to the actuator 3-1 or to the device 10-1 can be monitored by the control device 8-1 accordingly in order to indirectly recognize the operating state of the actuator 3-2 and thus the brake preset, since for example a sudden drop in the wheel speed would be perceptible at all actuators 3-1 to 3-4 via the wheels 6-1 to 6-4.

[0042] Likewise, this will also work when the devices 10-1 and 10-2 are configured as steering devices (independent steering devices, e.g. recognition of the driving state by lateral acceleration values ​​or steering angle) or as drive devices (e.g. recognition by sensor signals of an acceleration sensor).

[0043] A further application case arises for the actuators 3-7 and 3-8 assigned to a device 10-7 configured as a steering device, in order to operate them together. For example, in case of failure of the communication connection between the control device 8-7 of the actuator 3-7 and the central control device 9-1, the control device 8-7 can instead monitor the operating state of the actuator 3-8 by evaluating the sensor signals of the sensor assembly 11-7, e.g. the lateral acceleration value, the steering angle, the displacement of the rack / steering rod of the steering device and / or the rotation angle of the axis of the actuator, and the actuator 3-7 can be correspondingly activated to assist the actuator 3-8 if a corresponding steering preset is recognized depending on the operating state.

[0044] The complete failure of one of the central control devices 9-1 or 9-2 can also be tolerated, for example when the actuators 3-1 to 3-4 are respectively assigned to devices 10-1 to 10-4 formed as wheel brake devices, so that if, for example, the central control device 9-1 were to fail completely, the brake presets can no longer be transferred by it to the control devices 8-1 and 8-2 and thus to the actuators 3-1 and 3-2 of the front axle 4.

[0045] According to the method according to the invention, the control devices 8-1 and 8-2 in this case instead evaluate the sensor signals of the sensor assemblies 11-3 and / or 11-4 assigned to the rear axle 5 and / or the sensor assemblies 11-1 and / or 11-2 assigned to the front axle 4, so as to directly and / or indirectly detect the operating state of the actuators 3-3 and 3-4 arranged on the rear axle 5 and can subsequently assist the actuators 3-3 and 3-4 with an auxiliary, for example a constant or deceleration-dependent braking force, in order to fulfill the braking preset. A deterioration in the performance of the brake system (in particular a lower braking force) would in this case be completely prevented. For example, as mentioned above, the wheel speed of at least one of the wheels 6-1 to 6-4 is detected by the corresponding sensor assembly 11-1 to 11-4. The activation of at least one of the actuators 3-3 and 3-4 is recognized in this case, in particular when the wheel speed of any of the wheels 6-1 to 6-4 decreases.

[0046] Alternatively, the braking force is reduced to a preset value and the total possible braking effect is nevertheless greater than in the event of complete failure of the corresponding actuator. The same process is possible when the vehicle 1 is equipped with all-wheel drive and the corresponding actuators 3-1 to 3-4 are each assigned to a drive unit, so that here too the acceleration presets could still be reliably met.

[0047] These application cases are used only to provide examples and to demonstrate the advantages of the method according to the invention. It is obvious that any other operational control and monitoring is possible or can be realized in view of the complexity of the embodiment shown in FIG.

[0048] After a preset period of time, the motion control of the corresponding actuator 3-1 to 3-8 is at least partially cancelled, in particular interrupted, and the method continues with step S4, where depending on the sensor signals determined after the cancellation or interruption it is decided whether and how to continue the motion control, in particular by comparing the sensor signals before the start of the motion control and after the cancellation or interruption.

[0049] Instead of cancelling or interrupting the motion control, the sensor signal is continuously detected and in step S4 is first compared with the sensor signal that existed before the start of the motion control, without any change in the motion control.

[0050] If it is decided to maintain or continue motion control, the method returns to step S3 and, depending in particular on the sensor signals, the motion control strategy is adapted, for example to operate the corresponding device more strongly or less strongly to meet the first-mentioned presets for braking, driving and / or steering.

[0051] If it is decided not to terminate or resume motion control, for example because it is recognized in response to the sensor signals that the first-mentioned presets for braking, driving and / or steering have been achieved, the method is terminated in step S5. [Explanation of symbols]

[0052] 1. Automobiles 2 Actuator Assembly 3-1~3-8 Actuators 4 front axle 5 rear axle 6-1~6-4 Wheels 7. Motion Control System 8-1~8-8 Control device 9-1, 9-2 Central control device 10-1~10-7 Equipment 11-1~11-7 Sensor Assembly S1 Step S2 Step S3 Step S4 Step S5 Step

Claims

1. A method for operating an actuator assembly (2), in particular an actuator assembly (2) for a motor vehicle (1), comprising at least two actuators (3-1 to 3-8) whose operation can be controlled, and a control system (7) having at least two control devices (8-1 to 8-8) assigned to each of the actuators (3-1 to 3-8) and a central control device (9-1, 9-2) connected by a communication connection to each of the control devices (8-1 to 8-8) in terms of communication technology, the control devices (8-1 to 8-8) being controlled by the central control device (9-1, 9-2) in a normal operating mode of the actuator assembly (2) without errors, for controlling the operation of each of the actuators (3-1 to 3-8), In the method, monitoring said motion control system (7) for the occurrence of malfunctions; Monitor the operating state of each of the actuators (3-1 to 3-8); and When a malfunction of the motion control system (7) for one of the actuators (3-1 to 3-8) is recognized, the corresponding actuator (3-1 to 3-8) is directly controlled in operation by the control device (8-1 to 8-8) assigned to the actuator (3-1 to 3-8) in response to the operating state of the other actuator (3-1 to 3-8) detected by the monitoring.

13. A method of operating an actuator assembly, comprising:

2. 2. The method according to claim 1, characterized in that the actuators (3-1 to 3-8) are assigned to one or each one operable device (10-1 to 10-7), in particular a wheel braking device, a drive device and / or a steering device for at least one wheel or axle of the motor vehicle (1), and each of the devices (10-1 to 10-7) is operated by the control device (8-1 to 8-8) when controlling the operation of the actuators (3-1 to 3-8).

3. 3. The method according to claim 1, wherein the actuators (3-1 to 3-8) are configured as electromechanical actuators and each have an electric machine, and the operating states of the actuators (3-1 to 3-8) are monitored by means of a current sensor and / or a rotor position sensor assigned to each electric machine.

4. 4. The method according to claim 1, further comprising monitoring the operating states of the actuators (3-1 to 3-8) by means of acceleration and / or acoustic sensors assigned to each actuator (3-1 to 3-8).

5. 5. The method according to claim 1, further comprising monitoring the operating states of the actuators (3-1 to 3-8) by means of wheel speed sensors, steering angle sensors, steering transmission rack position sensors and / or ground force sensors assigned to the wheels (6-1 to 6-4) of the vehicle (1) assigned to the respective actuators (3-1 to 3-8) and / or monitoring the operating states as a function of the driving forces, driving moments, braking forces and / or braking moments acting on the wheels (6-1 to 6-4).

6. 6. The method according to claim 1, characterized in that, upon recognition of a malfunction, the respective control device (8-1 to 8-8) is switched from the normal operating mode to an error operating mode and a sensor signal of a sensor assigned to the actuator (3-1 to 3-8) is monitored in order to recognize whether, in the error operating mode, depending on the sensor signal, at least one further one of the actuators (3-1 to 3-8) of the actuator assembly (2) is operated or not.

7. The method according to claim 6, characterized in that, when the motion control of at least one other actuator (3-1 to 3-8) is recognized, the actuator (3-1 to 3-8) involved in the malfunction of the motion control system (7) is motion-controlled by the control device (8-1 to 8-8) assigned to the actuator (3-1 to 3-8) to assist the other actuator (3-1 to 3-8).

8. 8. A method according to claim 7, characterized in that the motion control of the actuators (3-1 to 3-8) is interrupted after a preset period of time and whether and how to continue the motion control is decided depending on the sensor signals determined after the interruption, in particular by comparison of the sensor signals before the start of the motion control and after the interruption.

9. 8. A method according to claim 7, characterized in that the motion control of the actuators (3-1 to 3-8) is carried out without interruption and, depending on the continuously determined sensor signals, it is decided whether and how to continue the motion control, in particular by comparing the sensor signals before the start of the motion control with those during the motion control.

10. 10. The method according to claim 6, characterized in that upon recognition of a malfunction and the control of the operation of at least one further actuator (3-1 to 3-8), the operation of said further actuator (3-1 to 3-8) is controlled more strongly for at least a preset period of time.

11. 11. The method according to claim 6, further comprising the step of outputting an error indication, in particular on a display device, in the error operating mode.

12. An actuator assembly (2), in particular an actuator assembly (2) for a motor vehicle (1), said actuator assembly (2) comprising at least two actuators (3-1 to 3-8) whose operation can be controlled, and a motion control system (7) having at least two control devices (8-1 to 8-8) assigned to each of said actuators (3-1 to 3-8) and central control devices (9-1, 9-2) connected by communication technology to said control devices (8-1 to 8-8), respectively. In the actuator assembly (2), At least one of the control devices (8-1 to 8-8) is specially configured to carry out the method according to any one of claims 1 to 11.

1. An actuator assembly comprising:

13. Motor vehicle (1), characterized by at least one actuator assembly (2) according to claim 12.

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