Method for operating a motor vehicle, motor vehicle

Abstract

The present invention relates to a method for operating a motor vehicle (1), the motor vehicle (1) having at least one first operating mechanism (2, 3, 4) operable by a driver to set a braking, acceleration and / or steering demand, the motor vehicle (1) having at least one second operating mechanism (12, 13, 14) operable by the driver during normal operation to set a demand independent of the braking, acceleration and / or steering demand, the method comprising monitoring the first operating mechanism (2, 3, 4) for malfunctions. [Solution] If a malfunction of the first operating mechanism (2, 3, 4) is detected, it is considered to alternatively determine the braking request, acceleration request and / or steering request 15 depending on the operation duration, operating force and / or operation type of the second operating mechanism (12, 13, 14), and to perform corresponding braking operations, acceleration operations and / or steering operations depending on the determined braking request, acceleration request and / or steering request.

Description

[Technical Field]

[0001] The present invention relates to a method of operating a motor vehicle, the motor vehicle having at least one first operating mechanism operable by a driver to set a braking, acceleration and / or steering demand, the motor vehicle having at least one second operating mechanism operable by the driver to set a demand independent of the braking, acceleration and / or steering demand during normal operation, and the method comprising monitoring the first operating mechanism for malfunctions.

[0002] Furthermore, the present invention relates to a motor vehicle. [Background technology]

[0003] The prior art knows that the actuation of a driver-operable operating mechanism for a motor vehicle is detected by a sensor associated with the operating mechanism. When the driver operates the operating mechanism, the driver's braking or acceleration request is recognized, in particular. For example, brake systems are known that include an electromechanical brake booster that, together with a vehicle assistance system, in particular an electronic stability program (ESP), forms a redundant brake-by-wire system, in which there is no mechanical connection between the operating mechanism and the brake system. The braking request is transferred, for example, depending on the actuation of the operating mechanism, to an electromechanical actuator that is configured to increase pressure in the brake system.

[0004] It is also known to combine this type of operating mechanism with an operating mechanism for setting a braking, acceleration and / or steering demand independent of the demand during normal operation. For example, Patent Document 1 discloses a motor vehicle equipped with a steering device having left and right handles, on each of which an operating element for braking or accelerating the vehicle and a shift paddle, in particular for selecting one gear of an automatic transmission, are arranged.

[0005] Finally, methods for determining malfunctions of operating mechanisms and / or sensors are known. For example, Patent Document 2 discloses a method for determining the state of a pedal operating system of a vehicle, in which the normal operating state or a faulty state of the operating pedal is determined depending on two sensor signals. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] German Patent Application Publication No. 102019009040A1 [Patent Document 2] German Patent Application Publication No. 102018113865A1 Summary of the Invention

[0007] The method according to the present invention, which has the features of claim 1, is characterized in that, if a malfunction of the first operating mechanism is detected, a braking, acceleration, and / or steering request is alternatively determined depending on the duration, force, and / or type of actuation of the second operating mechanism, and a corresponding braking, acceleration, and / or steering request is implemented depending on the determined braking, acceleration, and / or steering request. This provides a particularly advantageous redundancy for detecting the braking, acceleration, and / or steering request. In particular, the first operating mechanism is provided with at least one first sensor for detecting the actuation, and the operating mechanism and / or the first sensor are monitored for malfunctions. In particular, the operating mechanism is provided with at least one second sensor for redundantly detecting the actuation, and the sensor signals of the sensors are monitored for malfunctions, in particular by comparing them with each other. The redundant detection of the actuation of the operating mechanism has the advantage that, even if one of the sensors fails, the corresponding driver's input is always reliably recognized. Preferably, the operation of the operating mechanism is detected by one or two sensors arranged on the operating mechanism, such as an angle sensor, a distance sensor, a pressure sensor, or a power sensor. Only if these sensors fail is the second operating mechanism used to determine the corresponding request instead. Preferably, a braking, acceleration, and / or steering operation is performed with a predetermined strength or force, in particular a predetermined braking force or pressure, driving force or acceleration force, and / or steering angle is adjusted. Particularly advantageously, if a malfunction of the first operating mechanism is detected, the second operating mechanism ceases to independently determine requests, so that the second operating mechanism is used exclusively for determining braking, acceleration, and / or steering requests. In particular, if a malfunction is detected, a display device provided for the driver is output to inform the driver that the second operating mechanism is now being used exclusively or additionally to determine the corresponding request. This advantageously improves driver safety.

[0008] According to a further advantageous embodiment of the present invention, the steering system, the brake system, and / or the drive unit of a motor vehicle are controlled depending on the determined braking, acceleration, or steering request. This type of configuration of the operating mechanism advantageously ensures reliable recognition of the steering, acceleration, and / or deceleration requests of the motor vehicle driver. Preferably, the operating mechanism is part of a steer-by-wire, brake-by-wire, and / or drive-by-wire system, i.e., has no mechanical connection to the steering system, the brake system, and / or the drive unit. In particular, the first operating mechanism comprises a pedal arrangement with at least one pedal, an operating surface, a joystick, and / or a steering wheel. Preferably, the operating surface is configured to output the acceleration and / or deceleration request to the brake system and / or the drive unit. For this purpose, in particular, the operating force of the operating surface is determined. In this case, the operating surface is preferably configured at least substantially fixed or without a path, i.e., it is not displaceable or is at least slightly displaceable. In particular, the operation is detected depending on the travel distance and / or spatial position of the operating mechanism. Particularly preferably, the steering wheel is configured to output a steering command. For this purpose, in particular, the rotation angle of the steering wheel is detected. Preferably, the pedal arrangement has a gas pedal, a brake pedal, and / or a combined driving pedal that is equally configured to output an acceleration command and a deceleration command to the brake system and / or the drive unit. This type of output and control particularly emphasizes the advantages of the method according to the invention. Particularly preferably, the joystick is configured to output both an acceleration command and a deceleration command, in particular, alternatively or additionally, a steering command. In response to the movement of the pedal or joystick, in particular in response to the speed or angle of the movement, a signal is transmitted, for example, to a component of the vehicle's brake system, for example, to a controllable actuator, which, as described above, increases the corresponding brake pressure.

[0009] It is particularly advantageous to consider that the second operating mechanism is configured so that at least two, in particular four, different types of operation for braking, acceleration, and / or steering to the left and right can be detected. This configuration of the second operating mechanism has the advantage that at least a failure of the brake pedal and accelerator pedal or steering wheel as part of the first operating mechanism is completely compensated for. In the case of two different types of operation, at least two of the driver's requests are reliably detected (braking and acceleration, or steering to the left and right). In the case of four different types of operation, all of the driver's requests are also detected (braking, acceleration, steering to the left, steering to the right).

[0010] According to a further advantageous embodiment of the invention, the second operating mechanism may comprise two operating elements, in particular shift paddles, arranged on the steering wheel of the vehicle, or an operating element for adjusting regeneration. The advantages of the method according to the invention are particularly pronounced in the case of such operating elements. The use of these operating elements for the driver is advantageously intuitive. For example, each of these operating elements may be used to detect different driver requests. Preferably, the type and / or duration of the operation when the driver alternatively sets the request differs from the usual type and / or duration of the operation during normal operation.

[0011] It is particularly advantageous to recognize a braking or acceleration request as the type of actuation when both operating elements are actuated simultaneously. This type of actuation has the advantage that it differs from the usual actuation types that occur during normal operation, such as when only one of the operating elements is actuated to shift up or down or to increase or decrease regeneration, and therefore, false actuations are reliably avoided. In particular, when both operating elements are actuated simultaneously, full braking is recognized, preferably when a predetermined actuation force is reached.

[0012] According to an advantageous further configuration of the present invention, the operating elements are each movable or rotatable in a first direction and a second direction, particularly in a direction opposite to the first direction, and the simultaneous actuation of both operating elements in the first direction identifies a braking request as an operation type, and the simultaneous actuation of both operating elements in the second direction identifies an acceleration request, or the simultaneous actuation of at least one of the operating elements in the first direction identifies an acceleration request, and the simultaneous actuation of at least one of the operating elements in the second direction identifies a braking request. This type of actuation type advantageously ensures that both acceleration and braking requests are reliably recognized. For example, the operating elements are arranged in the vehicle by an operating mechanism so as to rotate in one of a plurality of directions, particularly in the first direction, away from the driver (toward the front of the vehicle), and in another of a plurality of directions, particularly in the second direction, toward the driver (toward the rear of the vehicle). Alternatively, the operating element is arranged in the vehicle by an operating mechanism so that it can be rotated upward (on the vehicle) in one of a plurality of directions, particularly a first direction, and downward (on the vehicle) in another of a plurality of directions, particularly a second direction. Both types of operation are known, for example, from operating elements for cruise control assistants (Tempomart), which advantageously allows the driver to intuitively understand the operation. Alternatively, the operating element is arranged in the vehicle by an operating mechanism so that it can be rotated leftward (on the vehicle) in one of a plurality of directions, particularly a first direction, and downward (on the vehicle) in another of a plurality of directions, particularly a second direction, and downward (on the vehicle). In particular, the extent of the corresponding braking, acceleration, or steering operation is determined depending on the travel distance and / or the rotation angle. Preferably, the greater the range of movement or rotation of the operating mechanism, the greater the extent of the corresponding braking, acceleration, or steering operation.

[0013] It is particularly advantageous to arrange the operating elements as left and right operating elements on the steering wheel, and to recognize the corresponding steering request in the respective direction when only the left operating element or the right operating element is operated as the operation type, or to recognize a braking request when only the left operating element is operated and an acceleration request when only the right operating element is operated. This type of operation type advantageously ensures that both acceleration and braking requests, or steering requests to the left and right, are reliably recognized. The allocation of the steering requests preferably corresponds to the spatial arrangement (left, right) of the operating elements on the steering wheel. Correspondingly, the allocation of the braking and acceleration requests preferably corresponds to the spatial arrangement of the corresponding pedals and operating elements on the steering wheel. This advantageously allows the driver to intuitively understand these operation types.

[0014] According to a further advantageous embodiment of the invention, the second operating mechanism has an operating lever that is movable or rotatable at least in a first direction and a second direction, in particular in a direction opposite to the first direction, in particular an automatic selector lever or a gear selector lever, and that recognizes a braking request as the type of operation when operating in the first direction and an acceleration request as the type of operation when operating in the second direction, or recognizes a steering request to the left as the type of operation when operating in the first direction and a steering request to the right as the type of operation when operating in the second direction, which is advantageous because such types of operation ensure that both an acceleration request and a braking request, or both a steering request to the left and a steering request to the right, are reliably recognized. For example, the operating lever is arranged in the vehicle by the operating mechanism so that it can be rotated or moved in one of a plurality of directions, particularly a first direction, away from the driver (toward the front of the vehicle), and in another of a plurality of directions, particularly a second direction, toward the driver (toward the rear of the vehicle). Alternatively, the operating lever is arranged in the vehicle by the operating mechanism so that it can be rotated or moved in one of a plurality of directions, particularly a first direction, upward (of the vehicle), and in another of a plurality of directions, particularly a second direction, downward (of the vehicle). Both types of operation are known, for example, from operating elements for a cruise control assistant (Tempomart), which is advantageous because the driver can intuitively understand the operation. Therefore, in particular, the operating lever is also configured as an operating element adapted for the cruise control assistant (Tempomart). The latter type of actuation is known, for example, from joysticks, and is advantageous because the driver can intuitively understand the actuation. Alternatively, the actuation lever is arranged in the vehicle on an actuation mechanism such that it can be rotated in one of a plurality of directions, in particular in a first direction, to the left (vehicle) and in another of a plurality of directions, in particular in a second direction, to the right (vehicle).This type of operation is known, for example, from a joystick, and is therefore advantageous because the driver can intuitively understand the operation. In particular, the degree of the corresponding braking, accelerating, or steering operation is determined depending on the movement distance and / or the rotation angle. The greater the range of movement or rotation of the operating mechanism, the greater the degree of the corresponding braking, accelerating, or steering operation, preferably.

[0015] It is particularly advantageous for the operating lever to be movable or rotatable in at least four directions, particularly perpendicular to one another, and for the actuation type to be determined when actuated in one of the four directions to be one of braking, acceleration, steering to the left, or steering to the right, with each of these directions being associated with a specific command, particularly where the direction for braking and the direction for acceleration, and the direction for steering to the left and the direction for steering to the right, are respectively associated in opposite directions. This type of actuation type is advantageous because it ensures that all possible driver commands, including acceleration, braking, and steering to the left and right, are reliably recognized. This type of actuation type is known, for example, from joysticks, and is therefore intuitively understandable to the driver. In particular, the extent of the corresponding braking, acceleration, or steering command is determined depending on the distance of movement and / or the angle of rotation. The greater the range of movement or rotation of the operating mechanism, the greater the corresponding degree of braking, acceleration, or steering, preferably.

[0016] According to a further advantageous embodiment of the invention, the second operating mechanism has an operating button, in particular for operating the parking brake, and the actuation type is determined as a braking or acceleration request. This type of actuation type offers a particularly advantageous and simple possibility for alternatively detecting the request. In particular, the operating button is configured to be movable, and the magnitude of the corresponding braking or acceleration operation is determined depending on the distance traveled by the operating button. Alternatively or additionally, the magnitude is determined depending on the force with which the operating button is operated. The greater the range of movement of the operating button or the stronger the pressing of the operating button, the greater the magnitude of the corresponding braking or acceleration operation. Alternatively, the system only detects whether the operating button is operated, and if so, performs a braking or acceleration operation with the predetermined magnitude, in particular a full braking operation as an emergency braking operation.

[0017] It is particularly advantageous to determine the relationship of the actuation type to the corresponding request depending on the fault state and / or operating state of at least one first and / or second operating mechanism. Taking into account the fault state of at least one operating mechanism among the plurality of operating mechanisms provides particularly advantageous flexible possibilities for utilizing the operating mechanisms. For example, in the event of a malfunction of a first operating mechanism, the independent request recognition performed by the second operating mechanism during normal operation is discontinued, so that the second operating mechanism is used exclusively to recognize braking, acceleration, and / or steering requests. Furthermore, if the vehicle has another first operating mechanism used to recognize braking, acceleration, and / or steering requests and this mechanism also has an error, it is preferable to select the actuation type of the second operating mechanism such that the request recognized by the other first operating mechanism in the absence of an error can also be recognized or is recognized by the second operating mechanism, as long as the second operating mechanism allows a sufficiently large number of degrees of freedom. For example, the second operating mechanism compensates for a failure of the pedal arrangement, in particular the brake pedal and / or accelerator or gas pedal, or for a failure of the steering wheel, in particular for a failure of the steering wheel. This is the case, for example, in the above-mentioned configuration in which the operating mechanism is configured as an operating lever that is rotatable or movable in at least four directions. On the other hand, if only the pedal arrangement is faulty, the second operating mechanism compensates for only this failure, for example to identify an acceleration and / or braking request, but does not monitor the type of operation that can be used for alternative detection of the steering request. Thus, starting from the above-mentioned operating lever, only movement or rotation of the operating lever in two of a plurality of directions, for example forward and backward, is utilized to perform the alternative determination of the request. However, movement or rotation of the operating lever in the other two directions, for example to the left and right, remains ineffective, i.e., does not initiate a corresponding steering operation.

[0018] According to an advantageous further embodiment of the present invention, the degree of a corresponding braking, accelerating, or steering maneuver is determined depending on the operating force, the state of at least one component of the vehicle, surrounding information, environmental information, and / or the vehicle's speed. This situation-dependent adjustment of the corresponding maneuver degree advantageously ensures optimal vehicle operation. For example, the maneuver degree increases with the operating force, particularly linearly, gradually, or gradually, preferably corresponding to a normal brake pedal characteristic curve. For example, if a malfunction of a component of the brake system is determined, such as a malfunction of the electronic stability program, the degree of braking is limited to prevent wheels from locking. For example, if surrounding information or environmental information determines that a large number of other road users are around the vehicle or that undesirable road or weather conditions, such as rain, snow, or ice, are prevalent, the degree of all maneuvers is limited to ensure safe vehicle operation. Preferably, when the vehicle's speed is increasing, the degree of steering and / or acceleration is limited to ensure safe vehicle operation.

[0019] It is particularly advantageous to provide for the corresponding request to be recognized only when the duration of the operation has reached at least one predetermined time, which advantageously reduces the possibility of an error on the part of the driver, for example, if the duration of the operation has reached at least 1 second, in particular 2 seconds, preferably 5 seconds.

[0020] In a further advantageous embodiment of the invention, the corresponding request is recognized only when multiple actuations of the operating mechanism are recognized, particularly within a predetermined time period, corresponding to the type of actuation. This advantageously reduces the possibility of an incorrect actuation on the part of the driver. For example, the request is recognized only when the operating mechanism is actuated at least two, particularly three times, particularly with an interval of less than one second between each actuation, particularly less than two seconds, preferably less than five seconds.

[0021] A motor vehicle according to the invention, which has the features of claim 15, is characterized in that it has at least one first and one second operating mechanism operable by the driver and is provided with a control mechanism specially adapted for carrying out the method according to the invention, thereby achieving the advantages already mentioned. Preferably, the first operating mechanism comprises a pedal arrangement and / or a steering wheel. Alternatively or additionally, the second operating mechanism comprises two operating elements arranged on the steering wheel of the motor vehicle, in particular shift paddles, or an operating lever, in particular an automatic selector lever or a gear selector lever, for adjusting regeneration, and / or an operating button, in particular for operating the parking brake.

[0022] Further advantageous features and feature combinations are apparent from the foregoing description and the claims.The invention will now be explained in more detail with the aid of the drawings. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. [Figure 2] FIG. 1 illustrates a method for operating a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0024] 1 shows a motor vehicle 1, which in this embodiment is equipped with a first (first primary) operating mechanism 2, for example formed as a brake pedal, another first (second primary) operating mechanism 3, for example formed as an accelerator pedal or gas pedal, and another first (third primary) operating mechanism 4, for example formed as a steering wheel. The operating mechanisms 2, 3, and 4 are each configured to be operated by the driver of the motor vehicle 1.

[0025] Each of the operating mechanisms 2, 3, 4 is associated with a first sensor 5 and a second sensor 6 for redundant detection of the operation of the operating mechanisms 2, 3, 4, as indicated by the corresponding double arrows. For the sake of clarity, only one of these sensors 5, 6 is shown in Figure 1. Depending on the detected operation of the operating mechanisms 2, 3, 4, the braking system 7, the drive unit 8, and the steering system 9 of the vehicle 1 are controlled.

[0026] In other words, in this embodiment, when each of the operating mechanisms 2, 3, and 4 is operated during normal operation of the automobile 1, the braking request is set by the first operating mechanism 2, the acceleration request is set by the other first operating mechanism 3, and the steering request is set by the other first operating mechanism 4.

[0027] The motor vehicle 1 further comprises at least one control mechanism, in particular a number of control mechanisms 10, and components, in particular a number of components 11, which are respectively associated with the brake system 7, the drive unit 8 or the steering system 9, as indicated by dashed lines.

[0028] Furthermore, the motor vehicle 1 has a second (first secondary) operating mechanism 12 with two operating elements 12', 12" arranged on the steering wheel, in particular with shift paddles, or another second (second secondary) operating mechanism 13 with an operating lever 13' for adjusting regeneration, in particular with an automatic selector lever or a transmission selector lever, and another second (third secondary) operating mechanism 14 with an operating button 14' for operating the parking brake, in particular.

[0029] The second operating mechanisms 12, 13, 14 are configured during normal operation to set a braking, acceleration and / or steering request independent of the operating mechanisms 2, 3, 4, in particular to set the gear of the transmission of the drive unit 8, the regeneration rate of the drive unit 8 and / or the operation of the parking brake of the brake device 7.

[0030] Furthermore, the second operating mechanisms 12, 13, 14 are configured to alternatively set a braking request, an acceleration request and / or a steering request when a malfunction of one of the first operating mechanisms 2, 3, 4 and / or one of the sensors 5, 6 is confirmed.

[0031] Corresponding to the first operating mechanisms 2, 3, 4, and in particular the second operating mechanisms 12, 13, 14, each of them is provided with at least one sensor for detecting its operation. Preferably, therefore, the operating mechanisms 12, 13, 14 are likewise provided with first and second sensors for redundantly detecting their operation. For clarity, this sensor arrangement is indicated by the first sensor 5 and the second sensor 6 and the corresponding double arrows. However, it is advantageous for each of the operating mechanisms 2, 3, 4, 12, 13, 14 to have at least one sensor of its own.

[0032] The control mechanism 10 is configured, in particular, to monitor the first operating mechanism 2, 3, 4, the second operating mechanism 12, 13, 14, the sensors 5, 6 and / or the component 11 for malfunctions and to control the brake device 7, the drive unit 8 and the steering device 9 depending on the operation of the operating mechanisms 2, 3, 4, as indicated by the arrows.

[0033] An advantageous method for operating the motor vehicle 1 will now be described with reference to Figure 2. For this purpose, Figure 2 shows the method on the basis of a flow chart. In particular, this method ensures that an advantageous redundancy is provided for detecting braking, acceleration and / or steering requests. Preferably, this method is implemented by the control mechanism 10.

[0034] The method begins in step S1 by monitoring the first operating mechanisms 2, 3, 4 and sensors 5, 6 for malfunctions. If a malfunction is detected, the method proceeds with step S2.

[0035] In step S2, at least one of the second operating mechanisms 12, 13, 14 is determined to be the object of operation monitoring instead of the malfunctioning operating mechanism 2, 3, 4. For this purpose, the operation duration, operating force and / or operation type of the corresponding second operating mechanism 12, 13, 14 are detected, and depending on this, the braking request, acceleration request and / or steering request is alternatively determined as described above.

[0036] For example, if one of the two operating mechanisms 2, 3 is faulty when detecting a braking request or an acceleration request, the operation type is recognized as a braking request or an acceleration request, particularly when both operating elements 12', 12" are operated simultaneously.If the operating elements 12', 12" are movable or rotatable in a first direction and a second direction, the operation type is recognized as a braking request when the operating elements 12', 12" are operated simultaneously in the first direction, particularly when the operating elements 12', 12" are operated simultaneously in the second direction, particularly when the operating elements 12', 12" are operated simultaneously in the first direction, particularly when the operating elements 12', 12" are operated simultaneously in the second direction, particularly when the operating elements 12', 12" are operated simultaneously in the first direction, particularly when the operating elements 12', 12" are operated simultaneously in the second direction, particularly when the operating elements 12', 12" are operated in the first direction, particularly when the operating elements 12', 12" are operated ... second direction, particularly when the operating elements 12', 12" are operated in the first direction, particularly when the operating elements 12', 12" are operated in the second direction, particularly when the operating elements 12', 12" are operated in the second direction, particularly when the operating elements 12', 12" are operated in the first direction, particularly when the operating elements 12'

[0037] If the operating elements 12', 12" are arranged on the steering wheel as a left operating element and a right operating element, and, for example, the first operating mechanism 4 fails when detecting a steering request, the corresponding steering request in each direction is recognized as the type of operation, particularly when only the left operating element 12' and only the right operating element 12" are operated.

[0038] If the operating elements 12', 12" are arranged on the steering handle as a left operating element and a right operating element, and one of the operating mechanisms 2, 3 fails when detecting, for example, a braking request or an acceleration request, the type of operation is determined to be a braking request when only the left operating element is operated, and a acceleration request when the right operating element is operated.

[0039] When using a second operating mechanism 13 having an operating lever 13' that can be moved or rotated in at least a first direction and a second direction, the type of operation is determined to be a braking request when operated in the first direction, a request to accelerate when operated in the second direction, or a steering request to the left when operated in the first direction, and a steering request to the right when operated in the second direction, depending on which of the operating elements 2, 3, and 4 is faulty.

[0040] Moreover, if the operating lever 13' can be moved or rotated in four directions, particularly in directions perpendicular to each other, i.e., as in the case of a joystick, the type of operation is recognized as follows: particularly, when the operation is to the left (as seen by the driver or in relation to the automobile 1), a request to steer to the left is recognized; when the operation is to the right, a request to steer to the right is recognized; when the operation is to the rear, a request to brake is recognized; and when the operation is to the forward direction, a request to accelerate is recognized.

[0041] When the second operating mechanism 14 having the operating button 14' is used, the type of operation is recognized as a braking request or an acceleration request at the time of the operation.

[0042] As mentioned above, the correlation of the actuation type to the corresponding request depends in particular on the corresponding fault state of at least the first actuation mechanism 2, 3, 4, and particularly advantageously also on the fault state of the second actuation mechanism 12, 13, 14.

[0043] For example, if the entire steering wheel is in a faulty state, and therefore both the first operating mechanism 4 and the second operating mechanism 12 are in a faulty state, the operating elements 12', 12" cannot be used to alternatively determine the steering command. In this case, only the second operating mechanism 13 with the operating lever 13' can be used. In particular, in this case, a priority is determined in advance, i.e. which of the operating mechanisms 12, 13, 14 is to be used preferentially.

[0044] Preferably, the corresponding request is recognized only when the operation duration reaches at least one predetermined time and / or when multiple operations of the operating mechanisms 12, 13, 14 are recognized, particularly within a predetermined time and particularly corresponding to the aforementioned operation type.

[0045] In step S3, the degree of the corresponding braking, accelerating or steering maneuver to be derived from the request is determined. In particular, the degree of the maneuver is fixedly set in advance. Alternatively, the degree can be determined depending on the maneuvering force, the state of at least one component 11 of the vehicle 1, the surroundings of the vehicle 1, environmental information and / or the speed. For this purpose, these are first detected and related to a corresponding degree evaluation value, for example, on the basis of a predetermined relationship, in particular by means of a suitable characteristic curve or a look-up table.

[0046] Now, in step S4, if a corresponding braking, accelerating or steering operation is performed, the corresponding first operating mechanism 2, 3, 4 is monitored for further operation as an alternative until it is determined that the corresponding first operating mechanism 2, 3, 4 is again functional, i.e., the method returns to step S2. However, if it is determined in step S4 that the malfunction has been eliminated, the method continues with step S5.

[0047] The method ends with step S5, in which detection of the operation of the first operating mechanism 2, 3, 4 is started or activated again and the alternative detection of the operation of the second operating mechanism 12, 13, 14 is interrupted or disabled. [Explanation of symbols]

[0048] 1. Automobiles 2, 3, 4 First operating mechanism 7 Brake system 8 Drive Unit 9. Steering device 11 Automobile components 12, 13, 14 Second operating mechanism 12',12" operating element 13' Operating lever 14' Operation button

Claims

1. 1. A method for operating a motor vehicle (1), the motor vehicle (1) having at least one first operating mechanism (2, 3, 4) operable by a driver to set a braking, acceleration and / or steering demand, the motor vehicle (1) having at least one second operating mechanism (12, 13, 14) operable by the driver during normal operation to set a demand independent of the braking, acceleration and / or steering demand, the method comprising monitoring the first operating mechanism (2, 3, 4) for malfunctions, - if a malfunction of the first operating mechanism (2, 3, 4) is detected, alternatively determining the braking, acceleration and / or steering request depending on the duration, force and / or type of actuation of the second operating mechanism (12, 13, 14); and - performing corresponding braking, acceleration and / or steering maneuvers depending on the determined braking, acceleration and / or steering requests; A method characterized by:

2. 2. The method according to claim 1, characterized in that the steering system (9), the braking system (7) and / or the drive unit (8) of the motor vehicle (1) are controlled depending on the determined braking, acceleration or steering request.

3. 3. The method according to claim 1, wherein the second actuation mechanism (12, 13, 14) is configured in such a way that at least two, in particular four different actuation types for braking, acceleration and / or steering to the left and right can be detected or sensed.

4. 4. The method according to claim 1, wherein the second operating mechanism (12) comprises two operating elements (12', 12"), in particular shift paddles, arranged on a steering wheel of the motor vehicle (1) or an operating element for adjusting recuperation.

5. 5. The method according to claim 4, wherein the actuation type is determined as a braking or acceleration request when both actuation elements (12', 12'') are actuated simultaneously.

6. 6. The method according to claim 4, wherein the operating elements (12', 12") are movable or rotatable in a first direction and a second direction, in particular in a direction opposite to the first direction, and wherein simultaneous actuation of both operating elements (12', 12") in the first direction identifies a braking request as the type of actuation, and simultaneous actuation of both operating elements (12', 12") in the second direction identifies an acceleration request; or wherein actuation of at least one of the operating elements (12', 12") in the first direction identifies an acceleration request, and actuation of at least one of the operating elements (12', 12") in the second direction identifies a braking request.

7. 7. The method according to claim 4, wherein the operating elements (12', 12") are arranged on the steering wheel as a left operating element and a right operating element (12', 12"), and wherein, when only the left operating element or the right operating element (12', 12") is operated, a steering request in the corresponding direction is recognized as the type of operation, or when only the left operating element (12', 12") is operated, a braking request is recognized, and when only the right operating element (12', 12") is operated, an acceleration request is recognized.

8. 8. The method according to claim 1, wherein the second operating mechanism (13) has an operating lever (13') that is movable or rotatable at least in a first direction and a second direction, in particular in a direction opposite to the first direction, and in particular has an automatic selector lever or a gear selector lever, and wherein the type of operation when operating in the first direction is determined to be a braking request and the type of operation when operating in the second direction is determined to be an acceleration request, or the type of operation when operating in the first direction is determined to be a steering request to the left and the type of operation when operating in the second direction is determined to be a steering request to the right.

9. 9. The method according to claim 8, characterized in that the operating lever (13') is movable or rotatable in at least four directions, in particular perpendicular to one another, and that when operating in one of the four directions, the type of operation is recognized as one of a braking request, an acceleration request, a steering request to the left, or a steering request to the right, so that each of these directions is associated with a specific request, in particular the direction for a braking request and the direction for an acceleration request, and the direction for a steering request to the left and the direction for a steering request to the right, are associated in opposite directions to each other.

10. 10. The method according to claim 1, wherein the second operating mechanism (14) has an operating button (14'), in particular for operating a parking brake, and the operating type is determined to be a braking request or an acceleration request.

11. 11. The method according to claim 1, further comprising determining the relationship of the operation type to the corresponding request depending on the fault state and / or operating state of at least one of the first and / or second operating mechanisms (2, 3, 4, 12, 13, 14).

12. 12. The method according to claim 1, further comprising determining the extent of a corresponding braking, accelerating or steering operation depending on the operating force, the state of at least one component (11) of the vehicle (1), surrounding information, environmental information and / or the speed of the vehicle (1).

13. 13. The method according to claim 1, wherein the corresponding request is recognized only when the duration of the operation reaches at least one predetermined time.

14. 14. The method according to claim 1, wherein the corresponding request is recognized only when multiple operations of the operating mechanisms (12, 13, 14) are recognized in accordance with the type of operation, in particular within a predetermined time period.

15. A motor vehicle (1) having at least one first and one second operating mechanism (2, 3, 4, 12, 13, 14) operable by the driver, characterized in that a control mechanism (10) is provided which is specially arranged to carry out the method according to any one of claims 1 to 14.

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