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

Abstract

The invention relates to a method for operating an actuator assembly (3), in particular of a motor vehicle (1), the actuator assembly (3) having at least two actuators (8, 9), at least one of which is designed to operate a wheel brake apparatus (10), steering apparatus (20) and / or drive apparatus (21) of the vehicle (1), and having a control system (15) that has at least two control devices (11, 12) assigned to one of the actuators (8, 9) each and has two central control units (6), each communicatively connected to the control devices (11, 12) by means of communication connections, and the control devices (11, 12) being controlled by one of the central control units (6) each for the purposes of controlling the associated actuators (8, 9). According to the invention, the control devices (11, 12) are directly communicatively interconnected by means of a communication connection, the control system (15) is monitored with regard to the occurrence of a malfunction, and if a malfunction of the control system (15) affecting one of the control devices (11, 12) is identified, control signals generated for the affected control device (11, 12) by one of the central control units (6) are transmitted between the control devices (11, 12) via the communication connection.

Description

[0001] Description

[0002] title

[0003] Method for operating an actuator arrangement, actuator arrangement,

[0004] Motor vehicle

[0005] The invention relates to a method for operating an actuator arrangement, in particular of a motor vehicle, wherein the actuator arrangement has at least two actuators, of which in particular at least one is designed to actuate a wheel brake device, steering device and / or drive device of the motor vehicle, and a control system with at least two control devices, each assigned to one of the actuators, and two central control units, each connected to the control devices by communication links, and wherein the control devices are each controlled by one of the central control units to control the respective actuators.

[0006] Furthermore, the invention relates to an actuator arrangement and a motor vehicle with such an actuator arrangement.

[0007] State of the art

[0008] Methods of the type mentioned above are known from the prior art. For example, actuator arrangements for braking systems of motor vehicles are known, wherein at least one actuator, in particular an electromechanical service brake actuator, is assigned to each of four wheels of the motor vehicle, and wherein at least two of the wheels on the same axle of the motor vehicle are each assigned an additional parking brake actuator. Each of the actuators is assigned its own control device, which is usually controlled by at least one central control unit arranged remotely from the actuators. In particular, a separate central control unit is assigned to each of two of the wheels of the motor vehicle, for example, by axle or crosswise, which is responsible for at least two of the actuators.The central control units typically handle brake force distribution for the entire vehicle by issuing appropriate commands to the control units assigned to the actuators. To increase the reliability of the actuator arrangement, it is common practice to implement redundant components to compensate for failures of individual components and / or subsystems.

[0009] Disclosure of the invention

[0010] The method according to the invention with the features of claim 1 is characterized in that the control devices are directly connected to one another via a communication link, that the control system is monitored for the occurrence of a malfunction, and that, if a malfunction of the control system affecting one of the control devices is detected, control signals generated by one of the central control units for the affected control device are transmitted via the communication link between the control devices. This advantageously reliably ensures continued operation of the actuator arrangement in the event of a malfunction of the control system, without requiring any of the components to be redundant.In contrast, in the actuator arrangements mentioned above, such a malfunction without additional redundant components would result in the affected control device no longer being able to receive control signals from one of the control units because no alternative communication connection to one of the control devices exists. The invention is based on the finding that, for such malfunctions, a direct communication connection between the control devices is particularly advantageous. This direct communication connection is then used alternatively to transmit the control signals, i.e., as an alternative transmission path or for rerouting the control signals. In particular, the communication connection is designed as an SPI bus.The control signals originate, in particular, from the control unit that is responsible even in the absence of a malfunction, if this unit is permanently assigned to the affected control device, and are only redirected via the communication link between the control devices. Alternatively, if the control unit has failed due to the malfunction, the control signals are preferably generated by the other control unit as a substitute and transmitted via the communication link between the control devices. This ensures, regardless of the type of malfunction, that the respective control device still receives control signals and that the corresponding actuator can be controlled or is controlled.In particular, one of the actuators is designed as a service brake actuator or parking brake actuator for actuating a wheel brake device, as a steering actuator, or as a drive actuator. Preferably, the two actuators or two of the actuators, for example a service brake actuator and a parking brake actuator, are assigned to the same device, in particular a wheel brake device, and / or devices of the same wheel of the motor vehicle. Particularly preferably, at least four, in particular exactly four, actuators, for example two service brake actuators and two parking brake actuators, are provided, wherein, for example, one of the service brake actuators and one of the parking brake actuators is assigned to one of two wheels of the same axle of the motor vehicle. Preferably, the control system has a separate control device for each of the actuators, so that each of the actuators is assigned a separate control device.In particular, at least one of the control devices, in particular all of them, assigned to one of the actuators of the same type, in particular service brake actuators, are controlled by one of the central control units, and at least one of the control devices, in particular all of them, assigned to one of the actuators of a different type, in particular parking brake actuators, are controlled by another of the central control units. Alternatively, at least the control devices assigned to the same device, in particular wheel brake device, of the motor vehicle are controlled by the same central control unit. Particularly preferably, the control system has a separate central control unit for each of the control devices, so that each of the control devices is assigned its own central control unit, by which the respective control device is controlled.Preferably, two of the central control units are each directly connected to one another via a communication link. In particular, one of the control units, which is connected to one or more control devices assigned to one of the actuators of the same type, in particular service brake actuators, is directly connected to at least, in particular exactly, one other of the control units, which is connected to one or more control devices assigned to one of the actuators of a different type, in particular parking brake actuators, wherein the corresponding control devices are preferably assigned to actuators of the same wheel of the motor vehicle. Particularly preferably, the actuator arrangement according to the invention, in particular such actuators, control units and / or control devices, is provided for at least, in particular exactly, one of the axles of the motor vehicle.

[0011] According to a preferred development of the invention, it is provided that in a normal operating mode of the actuator arrangement, control signals are transmitted only via communication connections from one of the central control units to one of the control devices and from another of the central control units to another of the control devices, wherein in particular each of the central control units is directly connected in terms of communication technology to only one of the two control devices by a communication connection.Such transmission advantageously ensures that each of the control devices is permanently assigned to exactly one of the central control units, so that even in the event of a complete failure of one of the central control units, only one of the control devices is directly affected, and the other of the control devices receives control signals from the other control unit as a substitute within the scope of the method according to the invention, transmitted via the direct communication connection between the control devices. This works particularly robustly if each of the central control units is directly connected to only one of the two control devices.Preferably, in a normal operating mode of the actuator arrangement, control signals are transmitted from the respective central control unit to the respective control device via at least two independent communication connections. A malfunction of the control system, in particular a failure of one of the communication connections, is detected by the control device based on a comparison of the control signals. For example, control signals are transmitted to the control device both via a direct communication connection between the control unit and the control device, as well as via communication connections between the control unit and another of the control devices, and between the control devices.

[0012] Particularly preferably, if a failure of one of the central control units is detected as a malfunction, the control signals for the affected control device are transmitted from the other central control unit. This results in the advantage that the central control units provide redundancy with regard to the generation of control signals for each other.

[0013] According to a preferred development of the invention, it is provided that the control signals are generated by the respective other central control unit, are transmitted to the unaffected control device via a direct communication connection between the central control unit and the unaffected control device, and are transmitted from the unaffected control device to the affected control device via the communication connection between the control devices.

[0014] This advantageously ensures that the control signals are transmitted from the other of the central control units to the affected control device without interference and that the actuator arrangement continues to operate without errors.

[0015] Particularly preferably, if a failure of one of the communication connections between one of the central control units and one of the control devices is detected as a malfunction, the control signals for the affected control device are transmitted from the other central control unit. This provides the advantage that the central control units provide redundancy with regard to the generation of control signals for each other if the control signals of the actually responsible, still functional control unit cannot be transmitted directly to the corresponding control device due to the failure of the direct communication connection.

[0016] According to a preferred development of the invention, the control signals are generated by the respective other central control unit, transmitted from the other of the central control units to the unaffected control device via the communication connection between the central control unit and the unaffected control device, and transmitted from the unaffected control device to the affected control device via the communication connection between the control devices. This advantageously ensures that the control signals are transmitted without interference from the originally unassigned, other of the central control units to the affected control device, and that the actuator arrangement continues to operate without errors.

[0017] Particularly preferably, it is provided that the central control units are directly connected to one another for communication purposes via a communication link, and that, if a failure of one of the communication links between one of the central control units and one of the control devices is detected as a malfunction, the control signals for the affected control device are transmitted via the communication link between the central control units. This results in the advantage that the central control units can exchange control signals with one another, and that, at least in the event of a failure of only one of the communication links between one of the central control units and one of the control devices, the other of the central control units does not necessarily have to generate control signals, but rather that the control signals are simply redirected in a resource-efficient manner via the direct communication link between the two control units.

[0018] According to a preferred development of the invention, the control signals are generated by the central control unit, transmitted to the other of the central control units via the communication connection between the central control units, transmitted from the other of the central control units to the unaffected control device via the communication connection between the central control unit and the unaffected control device, and transmitted from the unaffected control device to the affected control device via the communication connection between the control devices. This advantageously ensures that the control signals are transmitted without interference from the originally assigned central control unit to the affected control device and that the actuator arrangement continues to operate without errors.

[0019] Particularly preferably, it is provided that the central control units are directly connected to one another via a communication link, that in normal operating mode, communication signals are transmitted via the communication link between the central control units, and that, if a failure of the communication link between the central control units is detected, the communication signals are transmitted to the respective central control units via the communication link between the control devices. The communication signals include, in particular, a predetermined deceleration to be set by the actuators, a braking request, an acceleration command, a steering command, sensor signals, and / or a system state of the actuator arrangement, a braking system, a drive system, a steering system, and / or the motor vehicle.This has the advantage that even if the direct communication connection between the central control units fails, corresponding communication signals, for example as coordination for the control signals, in particular in addition to the control signals, are exchanged by clever rerouting.

[0020] According to a preferred development of the invention, the communication signals are generated by one of the central control units, transmitted by the central control unit to the control unit via the communication connection between the central control unit and the control device, transmitted by the control device to the other control device via the communication connection between the control devices, and transmitted by the other control device to the other central control unit via the communication connection between the other control device and the other central control unit. This advantageously ensures that the communication signals are exchanged without interference, bypassing the failed direct communication connection between the central control units, and that the actuator arrangement continues to operate without errors.

[0021] Particularly preferably, it is provided that, when a malfunction is detected, an error message is output, in particular on a display device. Outputting the error message has the advantage that the malfunction is reliably communicated externally, for example, to be perceived by a driver of the motor vehicle.

[0022] The actuator arrangement, in particular of a motor vehicle with the features of claim 12, has at least two actuators, of which at least one is designed to actuate a wheel brake device, steering device, and / or drive device of the motor vehicle, and a control system with at least two control devices, each assigned to one of the actuators, and two central control units, each communicatively connected to the control devices via communication links. It is characterized in that the control devices and the central control units are each specifically designed to carry out the method according to the invention. This results in the advantages already mentioned. The actuator arrangement is preferably part of a braking system, steering system, and / or drive system of the motor vehicle.The actuators of the actuator arrangement are assigned, in particular, to different devices, for example, wheel brake devices, drive devices, and / or steering devices of a motor vehicle. For example, at least one of the actuators is designed as a brake actuator, in particular a service brake actuator and / or parking brake actuator, a steering actuator, and / or a drive actuator. Any combinations are possible in this respect.

[0023] Particularly preferably, one of the actuators is configured as a service brake actuator and another of the actuators as a parking brake actuator of a braking system of a motor vehicle, wherein, in particular, the parking brake actuator is assigned to the same wheel brake device as the service brake actuator. With such an assignment, the advantages of the actuator arrangement according to the invention are particularly pronounced.

[0024] The motor vehicle with the features of claim 14 is characterized by the braking system according to the invention. This also results in the advantages already mentioned.

[0025] Further preferred features and combinations of features emerge from the above description and from the claims. The invention is explained in more detail below with reference to the drawings.

[0026] Figures 1A to 1C show embodiments of a motor vehicle with an advantageous actuator arrangement,

[0027] Figure 2 shows a detailed view of the actuator arrangement, and

[0028] Figure 3 shows a method for operating the actuator arrangement.

[0029] Figure 1A shows a first embodiment of a motor vehicle 1. The motor vehicle 1 has an actuator arrangement 3. Each of the wheels 4 of the motor vehicle 1 is assigned a wheel brake device 5 of a braking system 2.

[0030] Figure 1B shows a second, and Figure 1C a third, exemplary embodiment of the motor vehicle 1, in which at least one of the wheels 4—in this case, the wheels 4 of an axle 7 of the motor vehicle 1—is assigned at least two devices from different systems, selected from a wheel brake device 5 of a braking system 2, a steering device 16 of a steering system 17, and a drive device 18 of a drive system 19. Any combinations are conceivable, i.e., wheel brake device 5 and steering device 16, wheel brake device 5 and drive device 18, and steering device 16 and drive device 18.Each of the wheel brake devices 5, steering devices 16 and drive devices 18 is connected for communication purposes via at least one communication connection to one of two (first and second embodiment) or three (third embodiment) central control units 6 of the actuator arrangement 3, as indicated by corresponding lines.

[0031] The central control units 6 are each, as indicated by corresponding lines, connected by communication technology to at least two other of the wheel brake devices 5, steering devices 16 and / or drive devices 18, so that in the first exemplary embodiment, two brake circuits are produced which are separated from one another by communication technology.

[0032] In the present case, the wheel brake devices 5 are assigned crosswise, merely by way of example, so that the brake circuits each comprise a wheel brake device 5 assigned to one side of the motor vehicle 1 of one of the axles 7 and a wheel brake device 5 assigned to another side of the motor vehicle 1 of another of the axles 7 of the motor vehicle 1.

[0033] In the second exemplary embodiment, each of the central control units 6 is communicatively connected to different devices assigned to two different wheels 4 of the same axle 7, selected from the wheel brake device 5, steering device 16, and drive device 18, for example, a wheel brake device 5 of a left wheel 4, and to a steering device 16 or drive device 18 of a right wheel, as well as, merely by way of example, to another of the devices of another wheel 4 of another axle 7. The control units 6 are thus designed as cross-domain control units, i.e., assigned, for example, to the braking system 2 and the steering system 17.

[0034] In the third exemplary embodiment, an additional third control unit 6 is provided instead, wherein each of the control units 6 is then connected in a domain-specific manner only to at least, in this case precisely, two devices of the same type, which in this case are assigned to different wheels 4, i.e. wheel braking devices 5, steering devices 16 or drive devices 18.

[0035] In addition, the central control units 6 are each directly connected to one another via communication technology, as indicated by corresponding lines. Furthermore, in the first exemplary embodiment, each of the central control units 6 is also directly connected to a different one of the wheel brake devices 5 of the same axle 7, for example, a rear axle, via communication technology, as indicated by corresponding lines.

[0036] In the first embodiment, at least the two wheel brake devices 5 of this axle 7 are each directly connected to both of the central control units 6 via communication technology. In the second and third embodiments, the devices assigned to the same wheel 4 are each directly connected via communication technology. These additional direct communication connections allow for particularly advantageous continued operation of the actuator arrangement 3 in the event of malfunctions, as described below.

[0037] Each of the wheel brake devices 5, steering devices 16, and drive devices 18 comprises several components, which are shown in Figure 2 as an example in a detailed view. The interpretation of the corresponding components depends on which of the exemplary embodiments is being considered.

[0038] In the first exemplary embodiment, Figure 2 is a detailed view of one of the wheel brake devices 5. Two actuators 8, 9 are shown, one of which is designed as a service brake actuator 8 for actuating a wheel brake device 10, in particular an electromechanical one, and the other as a parking brake actuator 9. The actuators 8, 9 are thus part of the actuator arrangement 3. The parking brake actuator 9 is, as indicated by a dashed line, designed in particular to act on the service brake actuator 8 or directly on the wheel brake device 10, for example, to block it.

[0039] In the second and third embodiments, Figure 2 is a detailed view of two different devices of the same wheel 4, which in Figures 1B or 1C are directly connected to each other in terms of communication technology. In this respect, the actuators 8, 9 are different devices, selected from wheel brake device 5, steering device 16, and drive device 18, and devices, selected from wheel brake device

[0040] 10, steering device 20 and drive device 21, assigned, and independent of each other.

[0041] For example, one of the actuators 8, 9 is designed as a brake actuator 8, 9, in particular a service brake actuator and / or parking brake actuator, of a wheel brake device 5 for actuating a wheel brake device 10, as a steering actuator 8, 9 of a steering device 16 for actuating a steering device 20 or as a drive actuator 8, 9 of a drive device 18 for actuating a drive device 21.

[0042] In this case, the corresponding devices are each assigned to exactly one of the wheels 4, for example, as individual wheel drives or individual wheel actuators of a steering system. Alternatively, they are assigned to two wheels 4 of the same axle, in particular as a central drive or central steering / central steering actuator. In particular, at least one of the respective devices, devices, control devices, and / or actuators is arranged close to the wheel.

[0043] Also visible are two control devices 11, 12, each associated with one of the actuators 8, 9, wherein a first of the control devices 11 is associated with a first of the actuators 8, in the first embodiment thus the service brake actuator 8, and a second of the control devices 12 is associated with a second of the actuators 9, in the first embodiment thus the parking brake actuator 9. In particular, the control devices

[0044] 11, 12 are arranged in a common housing or constructed as a common control device. The first control device 11 is communicatively connected to one of the central control units 6 via a first communication interface 13, and the second control device 12 is communicatively connected to one of the central control units 6 via a second communication interface 14. The control devices 11, 12 are directly connected to one another via a communication link.

[0045] In the second and third embodiments, this corresponds to the communication connection between the devices shown in Figures 1B and 1C, which are each directly connected to one another in terms of communication technology. In the first embodiment, this communication connection is not visible in Figure 1A, but is implemented within the respective wheel brake device 5.

[0046] As described above, each of the control devices 11, 12 is connected to a different one of the control units 6 via a separate communication line. In the present case, with respect to the first exemplary embodiment, only the wheel brake devices 5 of one of the axles 7, in particular the rear axle, are constructed as shown and equipped with a parking brake function and thus the parking brake actuator 9 and the control device 12. The service brake actuator 8 and its control device 11, as well as the parking brake actuator 9 and its control device 12, are assigned to different brake circuits.

[0047] The control devices 11, 12 are each designed to be controlled by the respective central control unit 6 to control their respective actuators 8, 9, in particular depending on corresponding control signals from the central control unit 6. The control devices 11, 12 and the control units 6 are in this respect part of a control system 15 of the actuator arrangement 3.

[0048] An advantageous method for operating the actuator assembly 3 is described below with reference to Figure 3. Figure 3 illustrates the method using a flowchart. In particular, the method ensures that a malfunction of the control system 15 does not impair the continued operation of the actuator assembly 3 and thus the driving safety of the motor vehicle 1.

[0049] The components described in Figures 1A to 1C and 2, as well as their arrangement and interconnection, are merely exemplary in their complexity. In order to utilize the advantages of the actuator arrangement 3 and to be able to carry out the method described below, it is sufficient as a minimum requirement that two central control units 6 and a device with a first actuator 8, for example, a wheel brake device 5 with a service brake actuator 8, as well as the first control device 11 assigned to it, and another, or the same, device with a second actuator 9, for example, the wheel brake device with a parking brake actuator 9, as well as the second control device 12 assigned to it, are provided.

[0050] If different devices are considered, they are in particular assigned to the same wheel 4, as described above, but this is not mandatory. Devices assigned to different wheels 4 can also be used for the method, as long as their respective control devices 11, 12 are directly connected to one another for communication purposes, as described above.

[0051] In a step S1, the method begins with the control devices 11, 12 of at least one of the wheel brake devices 5, steering devices 16, and / or drive devices 18, in particular at least two wheel brake devices 5, steering devices 16, and / or drive devices 18 of the same axle 7, as described above, being controlled by one of the central control units 6 in each case as a function of corresponding control signals from the central control units 6 for controlling the respective actuators 8, 9.

[0052] In a normal operating mode of the actuator arrangement 3, control signals are transmitted only via the communication connections from one of the central control units 6 to the respective control device 11 and from another of the central control units 6 to another of the control devices 12, wherein each of the central control units 6 is directly connected in terms of communication technology to only one of the two control devices 11, 12, for example the same wheel brake device 5, by means of a communication connection.

[0053] In addition, the control system 15 is monitored for the occurrence of a malfunction. If a malfunction is detected, the method continues with step S2. In particular, an error message is now output, for example, on a display device assigned to a driver of the motor vehicle 1.

[0054] Preferably, in the normal operating mode, the control signals are transmitted from the respective central control unit 6 to the respective control device 11, 12 via at least two independent communication connections, wherein a malfunction of the control system 15, in particular a failure of one of the communication connections, is detected as a function of a comparison of the control signals by means of the control device.

[0055] If a failure of one of the central control units 6 is detected as a malfunction, the control signals for the affected control device 11, 12 are transmitted from the other central control unit 6 in step S2. The method then ends with a step S3.

[0056] If, for example, the central control unit 6 assigned to the control device 11 has failed, the control signals are generated by the other central control unit 6 assigned to the control device 12, transmitted to the unaffected control device 12 via a direct communication connection between the central control unit 6 and the unaffected control device 12, and transmitted from the unaffected control device 12 to the affected control device 11 via the communication connection between the control devices 11, 12. Thus, the affected control device 11 is reliably supplied with substitute control signals, and, for example, the ability to perform service braking with the service brake actuator 8 is still fully guaranteed.

[0057] If a failure of one of the communication connections between one of the central control units 6 and one of the control devices 11, 12 is detected as a malfunction—i.e., the control unit 6 is functional per se but can no longer transmit control signals directly to the corresponding control device 11, 12—then, in step S2, the control signals for the affected control device 11, 12 are transmitted via the communication connection between the central control units 6. Alternatively, the control signals for the affected control device 11, 12 are transmitted from the other central control unit 6. The method then also ends with step S3.

[0058] If, for example, the communication connection between the control device 11 and the central control unit 6 assigned to it has failed, the control signals are either still generated by the same central control unit 6 and transmitted via the communication connection between the central control units 6 to the other central control unit 6 assigned to the control device 12, or the control signals are generated directly by the other central control unit 6 and, in both variants, transmitted from the other of the central control units 6 via the communication connection between the central control unit 6 and the unaffected control device 12 to the unaffected control device 12, and transmitted from the unaffected control device 12 via the communication connection between the control devices 11, 12 to the affected control device 11.In this way, the affected control device 11 is reliably supplied with the control signals, and, for example, the ability to perform service braking with the service brake actuator 8 is still guaranteed without restriction.

[0059] In particular, in the normal operating mode, communication signals serving to coordinate the control units 6 are transmitted via the communication link between the central control units 6, and this communication link is also monitored for malfunctions. If a failure of the communication link between the central control units 6 is detected, the communication signals are redirected via the communication link between the control devices 11, 12 and transmitted to the respective central control units 6.

Claims

Claims 1. A method for operating an actuator arrangement (3), in particular of a motor vehicle (1), wherein the actuator arrangement (3) has at least two actuators (8, 9), of which in particular at least one is designed to actuate a wheel brake device (10), steering device (20) and / or drive device (21) of the motor vehicle (1), and a control system (15) with at least two control devices (11, 12), each assigned to one of the actuators (8, 9), and two central control units (6), each connected to the control devices (11, 12) by communication links, and wherein the control devices (11, 12) are each controlled by one of the central control units (6) to control the respective actuators (8, 9), characterized in that the control devices (11, 12) are directly connected to one another by a communication link,that the control system (15) is monitored for the occurrence of a malfunction, and that when a malfunction of the control system (15) affecting one of the control devices (11, 12) is detected, control signals generated by one of the central control units (6) for the affected control device (11, 12) are transmitted via the communication link between the control devices (11, 12).

2. Method according to claim 1, characterized in that in a normal operating mode of the actuator arrangement (3) control signals are only transmitted via communication connections from one of the central control units (6) to one of the control devices (11, 12) and from another of the central Control units (6) are transmitted to another of the control devices (11, 12), wherein in particular each of the central control units (6) is directly connected in terms of communication technology to only one of the two control devices (11, 12) by means of a communication connection.

3. Method according to claim 2, characterized in that, if a failure of one of the central control units (6) is detected as a malfunction, the control signals for the affected control device (11, 12) are transmitted from the other central control unit (6).

4. Method according to claim 3, characterized in that the control signals are generated by the respective other central control unit (6), are transmitted to the unaffected control device (11, 12) via a direct communication connection between the central control unit (6) and the unaffected control device (11, 12), and are transmitted from the unaffected control device (11, 12) to the affected control device (11, 12) via the communication connection between the control devices (11, 12).

5. Method according to one of claims 2 to 4, characterized in that, if a failure of one of the communication connections between one of the central control units (6) and one of the control devices (11, 12) is detected as a malfunction, the control signals for the affected control device (11, 12) are transmitted from the respective other central control unit (6).

6. The method according to claim 5, characterized in that the control signals are generated by the respective other central control unit (6), are transmitted from the other of the central control units (6) via the communication link between the central control unit (6) and the unaffected control device (11, 12) to the unaffected control device (11, 12), and are transmitted from the unaffected control device (11, 12) via the communication link between the control devices (11, 12) to the affected control device (11, 12).

7. Method according to one of claims 2 to 6, characterized in that the central control units (6) are directly connected to one another in terms of communication technology by a communication link, and in that if a failure of one of the communication links between one of the central control units (6) and one of the control devices (11, 12) is detected as a malfunction, the control signals for the affected control device (11, 12) are transmitted via the communication link between the central control units (6).

8. The method according to claim 7, characterized in that the control signals are generated by the central control unit (6), are transmitted to the other of the central control units (6) via the communication link between the central control units (6), are transmitted from the other of the central control units (6) via the communication link between the central control unit (6) and the unaffected control device (11, 12) to the unaffected control device (11, 12), and are transmitted from the unaffected control device (11, 12) to the affected control device (11, 12) via the communication link between the control devices (11, 12).

9. Method according to one of claims 2 to 8, characterized in that the central control units (6) are directly connected to one another in terms of communication technology by a communication link, that in the normal operating mode communication signals are transmitted via the communication link between the central control units (6), and that if a failure of the communication link between the central control units (6) is detected, the communication signals are transmitted via the communication link between the control devices (11, 12) to the respective central control units (6).

10. Method according to claim 9, characterized in that the communication signals are generated by one of the central control units (6) in each case, from the central control unit (6) via the Communication connection between the central control unit (6) and the control device (11,12) are transmitted to the control device (11,12), from the control device (11,12) via the communication connection between the control devices (11,12) to the other control device (11,12), and from the other control device (11,12) via the communication connection between the other control device (11,12) and the other central control unit (6) to the other central control unit (6).

11. Method according to one of the preceding claims, characterized in that, when a malfunction is detected, an error message is output, in particular on a display device.

12. Actuator arrangement (3), in particular of a motor vehicle (1), wherein the actuator arrangement (3) has at least two actuators (8, 9), of which in particular at least one is designed to actuate a wheel brake device (10), steering device (20) and / or drive device (21) of the motor vehicle (1), and a control system (15) with at least two control devices (11, 12), each assigned to one of the actuators (8, 9), and two central control units (6), each connected to the control devices (11, 12) by communication links, characterized in that the control devices (11, 12) and the central control units (6) are each specially designed to carry out the method according to one of the preceding claims.

13. Actuator arrangement according to claim 12, characterized in that one of the actuators (8, 9) is designed as a service brake actuator (8) and another of the actuators (8, 9) is designed as a parking brake actuator (9) of a brake system (2) of a motor vehicle (1), wherein in particular the parking brake actuator (9) is assigned to the same wheel brake device (10) as the service brake actuator (8).

14. Motor vehicle (1), characterized by an actuator arrangement (3) according to one of claims 12 and 13.

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