Method for adjusting the height of a loading sill of a motor vehicle, and motor vehicle

Abstract

The invention relates to a method for adjusting the height (H) of a loading sill (14) of a motor vehicle (10), in which the motor vehicle (10) has a first vehicle axle (18) having a first brake device (34) associated with the first vehicle axle (18), a second vehicle axle (20) having a second brake device (38) associated with the second vehicle axle (20), and a drive system (46) associated with the second vehicle axle (20). The first brake device (34) brings about first parking braking of the motor vehicle (10). The drive system (46) applies a drive torque to at least one vehicle wheel (30) of the second vehicle axle (20). The second brake device (38) brings about second parking braking of the motor vehicle (10).

Description

[0001] Mercedes-Benz Group AG

[0002] Method for adjusting the height of a loading edge of a motor vehicle and motor vehicle

[0003] The invention relates to a method for adjusting the height of a loading edge of a motor vehicle. Furthermore, the invention relates to a motor vehicle.

[0004] DE 10 2008036041 Al discloses a method for level control in a motor vehicle, wherein a predetermined vehicle height can be set by controlling at least one actuator.

[0005] Furthermore, DE 10 2013 211 660 Al, DE 102023 000432 Al and DE 10 2015008535 Al each disclose a device and a method for leveling a motor vehicle, wherein a height adjustment of at least parts of the vehicle frame of the motor vehicle can be effected by selectively driving and braking wheels of a motor vehicle.

[0006] The object of the present invention is to create a method and a motor vehicle such that the loading and unloading of the motor vehicle can be carried out in a particularly simple and safe manner.

[0007] This problem is solved by a method with the features of claim 1 and by a motor vehicle with the features of claim 9. Advantageous embodiments with expedient further developments of the invention are specified in the remaining claims.

[0008] This section describes a method for adjusting the height of the loading edge of a motor vehicle, also referred to simply as a vehicle, whose interior, also called passenger compartment, passenger space, or cabin, is formed by a body structure, for example, a self-supporting body. Adjusting the loading edge height is also called loading edge height adjustment, as the loading edge height is also referred to as the loading edge height. Specifically, the loading edge height is the distance, measured in the vehicle's vertical direction and / or height, between the loading edge and a ground extending, for example, in a horizontal plane, against which the vehicle is supported. In particular, the motor vehicle is a motor car, especially a passenger car.During a journey, people such as the driver of the motor vehicle may be inside the vehicle.

[0009] For example, a motor vehicle has a storage compartment, particularly at the rear or front, which is also referred to as a luggage compartment or trunk and is formed, i.e., bounded, by the vehicle body. The body has an opening designed as a through-opening, which, when considering only the body, opens at one end into the storage compartment and at the other into the surrounding area of ​​the motor vehicle and thus the body. For example, the opening in the vertical direction of the vehicle is bounded downwards, particularly directly, by the loading edge. Objects such as cargo can be moved through the opening, thereby moving items initially located in the surrounding area into the storage compartment and thus arranging them within it.Furthermore, items initially placed in the storage compartment can be moved through the opening in the superstructure, thus removing them from the storage compartment and moving them to or into the surrounding area. By arranging items in the storage compartment, the compartment can be loaded. By removing items from the storage compartment, the compartment can be unloaded. It is evident that, for example, items initially placed on the floor must be lifted and moved over the loading edge to load the storage compartment. Additionally, items initially placed on the floor, for example, must be moved over the loading edge and then lowered. The lower the loading edge, the easier and faster the storage compartment can be loaded and unloaded.Therefore, a low height is desirable for loading and unloading. However, to avoid excessively reducing the vehicle's ground clearance, a permanently low height cannot be maintained. It is therefore advisable to temporarily reduce the height for loading and unloading the cargo area and then increase it again afterward to ensure sufficient ground clearance for the subsequent journey.

[0010] In order to achieve a particularly advantageous and convenient loading and unloading of the storage space in a particularly simple manner, the motor vehicle in this method has, in particular, at least or exactly, two axles: a first axle and a second axle. Specifically, the axles are arranged consecutively in the longitudinal direction of the motor vehicle, and thus one behind the other, in particular such that the second axle is connected to the rear of the first axle in the longitudinal direction. Thus, for example, the first axle is a front axle, and the second axle is a rear axle.

[0011] Each vehicle axle has, for example, at least or exactly, two wheels. For example, the wheels of each axle are arranged on opposite sides of the vehicle in the transverse direction. The wheels are ground contact elements by which the vehicle is supported, for example, when moving upwards. When the vehicle is driven along the ground while supported downwards by these ground contact elements, the ground contact elements roll along the ground, in particular directly. The wheels of the first axle are also referred to as the first wheels, and the wheels of the second axle are also referred to as the second wheels.Vehicle wheels are also simply referred to as wheels.

[0012] In this method, the motor vehicle has a first braking device assigned to the first axle, and vice versa. By means of the first braking device, the wheels of the first axle, in particular all of them, can be braked, especially by hydraulic actuation. In this method, the motor vehicle has a second braking device assigned to the second axle, and vice versa. The wheels of the second axle, in particular all of them, can be braked by means of the second braking device. For example, each braking device is a service brake. More specifically, each braking device is designed as a friction brake, in particular as a disc brake.

[0013] In this process, the motor vehicle also has a drive system assigned to the second axle, which is also referred to as a drive unit. The drive system enables the, in particular all, wheels of the second axle to be driven. For example, the drive system is an electric drive system by which the second axle, that is, the, in particular all, wheels of the second axle, can be driven, especially purely, electrically.

[0014] In the first step of the procedure, the vehicle is brought to a standstill by means of the first braking device, and in particular, a subsequent braking action by means of the second braking device is omitted. The first braking action of the vehicle means that the vehicle, in particular the, and especially all, wheels of the first axle, and thus the vehicle itself, is braked by means of the first braking device in such a way, particularly while the vehicle is supported downwards in the vertical direction by the ground contact elements, that the vehicle's wheels are prevented from rolling and thus the vehicle itself is prevented from rolling along the ground.

[0015] In a second step of the process, which follows the first step, the drive system applies a drive torque, in particular a defined and / or predetermined and / or predeterminable torque, to at least or exactly one of the vehicle wheels of the second vehicle axle. The drive torque is a torque exerted on, and thus acting upon, the at least one vehicle wheel of the second vehicle axle. However, since the initial braking of the vehicle also occurs in the second step, and thus the vehicle is braked by the initial braking in the second step, the vehicle wheels, and therefore the vehicle itself, do not roll along the ground despite the application of the drive torque to the at least one vehicle wheel.In a third step of the procedure, which follows the second step, i.e., occurs after the second step, a second braking action of the motor vehicle is carried out by means of the second braking device, particularly while the first braking action is still in progress. The second braking action means that, in particular, the motor vehicle, and especially all of its wheels on the second axle, is braked by means of the second braking device in such a way that the motor vehicle, and thus its wheels, are prevented from rolling along the ground.Through this method and a corresponding design or layout of the vehicle axles, particularly with regard to their axle kinematics, the loading edge is lowered, thus moving downwards in the vehicle's vertical direction and reducing its height, making loading and unloading the cargo area particularly easy. The existing drive system is used for this lowering of the loading edge, allowing for a particularly simple lowering process. In particular, during the second emergency braking maneuver, the application of drive torque to at least one vehicle wheel is unnecessary, as the actual lowering of the loading edge is achieved by the first emergency braking maneuver and the application of drive torque to at least one vehicle wheel during that maneuver.Since the second braking maneuver also occurs, the loading edge can be kept lowered, and the application of drive torque to at least one vehicle wheel can be terminated without the loading edge rising again. This allows the loading edge to be kept lowered without further drive torque being applied to at least one vehicle. As a result, the loading edge can be kept lowered energy-efficiently for a relatively long period. To then raise the loading edge after it has been lowered and the cargo space has been loaded or unloaded, in order to achieve sufficient ground clearance for the vehicle, the second braking maneuver is terminated. This causes the loading edge to rise, in particular automatically, without any torque being applied to at least one vehicle wheel or to any other vehicle wheel.It is evident that only the braking system and the drive system are used as active actuators to adjust the loading sill height. Additional active actuators, such as spring and / or damping elements adjustable in length or height, are not used, allowing for particularly simple adjustment of the loading sill. It is conceivable that the drive system features individual wheel drives, such that one of the two vehicle wheels can be driven independently of the other by means of a first individual drive, and the other of the two vehicle wheels can be driven independently of the first by means of a second individual drive. In particular, it is conceivable that each individual wheel drive is designed as a wheel hub drive.

[0016] In particular, the respective braking device is an adjustable wheel brake. For example, the respective braking action is achieved by increasing the pressure at the respective braking device. This pressure could be, for example, the pressure of a hydraulic fluid, which is used to actuate the respective braking device.

[0017] The aforementioned design of the respective axle kinematics means, for example, that the second vehicle axle is designed, particularly with regard to its axle kinematics, such that, as a result of the drive torque being exerted on at least one wheel of the second vehicle axle, the wheel suspension of the second axle moves, particularly relative to the body and / or relative to the vehicle wheels, in such a way that the loading edge is lowered, thus reducing its height. This can be achieved through the appropriate design and construction of, for example, trailing arms of the wheel suspension of the second vehicle axle, which may, for example, have trailing arms and / or be designed as a rigid axle with a longitudinal pendulum suspension.In particular, if the second vehicle axle has a trailing arm suspension, the drive torque acts on at least one vehicle wheel in such a direction of rotation that the drive torque is designed to cause the vehicle to move backwards, or would cause the vehicle to move backwards if the vehicle were not braked. Reversing is understood to mean driving the vehicle in the longitudinal direction of travel to the rear, especially driving straight ahead.

[0018] If, for example, the loading edge is located at the rear of the vehicle, such that lowering the loading edge requires lowering the rear, the drive torque acts on at least one vehicle wheel in such a direction of rotation that the aforementioned reverse movement can be effected by means of the drive torque, i.e., would be effected if the vehicle were not braked. If, for example, the loading edge is located at the front of the vehicle, such that lowering the loading edge requires lowering the front, the drive torque acts on at least one vehicle wheel in such a second direction of rotation, opposite to the aforementioned direction of rotation, that the drive torque is designed to effect forward movement of the vehicle, i.e., would effect forward movement if the vehicle were not braked.The forward movement of a motor vehicle is understood to mean a movement of the motor vehicle forwards in the longitudinal direction of the vehicle and, in particular, straight ahead.

[0019] In order to adjust the loading edge height in a particularly safe and therefore particularly advantageous manner, the invention provides that a test step is carried out before the first step. In this test step, it is verified whether a safety condition is met, and the subsequent steps of the method only proceed if the safety condition is met; thus, the test step determines whether the safety condition is met.

[0020] To enable particularly safe and thus advantageous adjustment of the loading edge height, one embodiment of the invention provides that the motor vehicle has an initiation device that can be actuated and thus operated by a person, such as the driver, particularly manually. The initiation device is or thus comprises, for example, at least or exactly one control element that can be actuated and thus operated by the person, particularly manually. For example, the initiation device, in particular the control element, is or comprises at least or exactly one button and / or at least or exactly one knob and / or a lever, which is designed, for example, as a gear selector lever by means of which different shift states of a motor vehicle's transmission can be set. By actuating the initiation device, a sequence of steps of the process can be initiated.In other words, the sequence of steps can be initiated, that is, started, by actuating the initiating device, and the steps are carried out as a result of this actuating device. Actuating the initiating device is, or includes, for example, a combination of controls, also known as a key combination, in which, for example, several controls of the initiating device are actuated, particularly manually, simultaneously. Specifically, the sequence can be initiated by actuating the initiating device while the drive system, also known as the powertrain, is switched on, that is, activated.

[0021] The system is designed so that, after the sequence is initiated and before the first step of the procedure, an initiation step is carried out. This initiation step verifies whether the initiating device has been activated by the person. The sequence then proceeds only if and when the initiation step detects that the person has activated the initiating device. This prevents the steps from being carried out unintentionally, ensuring that the procedure is executed only when and when it is actually requested by the person.

[0022] To ensure a particularly safe execution of the procedure, it has proven especially advantageous if the safety condition includes the presence of a person in the driver's seat of the vehicle. Thus, for example, the sequence of steps is carried out if and only if the test step determines that a person, such as the driver of the vehicle, is in the driver's seat.

[0023] Another embodiment is characterized by the fact that the safety condition includes drive system activity detection. Thus, the method or steps are executed only when the drive system is activated. This prevents unwanted and unintended execution of the method and avoids the vehicle moving forward or backward unintentionally.

[0024] To make the process particularly safe and therefore particularly advantageous, a further embodiment of the invention provides that the drive system is deactivated after the third step, meaning that the initially activated drive system is deactivated. This establishes a safe state for the vehicle, in which the drive system is deactivated, i.e., switched off. Consequently, for example, a person can leave the driver's seat without any unwanted movements of the vehicle.

[0025] In order to be able to adjust the height of the loading edge particularly advantageously, it is provided in a further embodiment of the invention that the first braking action includes a braking action of all vehicle wheels of the first vehicle axle, while the second braking action includes a braking action of all vehicle wheels of the second vehicle axle.

[0026] A second aspect of the invention relates to a motor vehicle, also referred to simply as a vehicle, and preferably designed as a motor car, in particular as a passenger car, which is configured to carry out a method according to the invention. Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention and vice versa.

[0027] Further advantages, features, and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and combinations of features mentioned above in the description, as well as those mentioned below in the figure description and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0028] The drawing shows in:

[0029] Fig. 1 shows a partial schematic side view of a motor vehicle; and

[0030] Fig. 2 is a flowchart illustrating a procedure for setting a

[0031] Height of the loading edge of a motor vehicle.

[0032] In the figures, identical or functionally equivalent elements are designated with the same reference numerals. Fig. 1 shows a partial schematic side view of a motor vehicle 10, also referred to simply as a vehicle, whose interior, also referred to as passenger compartment, passenger cell, or cabin, is formed by a body 12 of the vehicle, preferably designed as a self-supporting structure, which is only shown very schematically and partially in Fig. 1. The body 12 also forms a storage compartment, also referred to as a trunk or luggage compartment, located, for example, at the rear of the vehicle or at the front of the vehicle. This storage compartment is at least partially and / or directly bounded downwards in the vertical direction of the motor vehicle 10 by a loading edge 14 of the body 12.

[0033] With reference to Figures 1 and 2, a method for adjusting the height H of the loading edge 14 is described. The height H is a distance extending in the upward direction of the vehicle 10 and / or in the vertical direction between the loading edge 14 and a floor 16 on which the vehicle 10 is supported downwards, particularly during the method. For example, the floor 16 extends in a horizontal plane.

[0034] The motor vehicle 10 has, specifically, two axles: a first axle 18 and a second axle 20. The axles 18 and 20 are arranged consecutively and thus one behind the other in the longitudinal direction of the motor vehicle 10. The vertical direction of the vehicle is illustrated by a double arrow 22, and the longitudinal direction of the motor vehicle 10, perpendicular to the vertical direction, is illustrated by a double arrow 24. The axle 18 has, in particular, two first wheels 26, which are spaced apart from each other in the transverse direction of the motor vehicle 10 and are arranged on opposite sides of the motor vehicle 10 in the transverse direction.The transverse direction of the motor vehicle 10, which runs perpendicular to the vehicle's vertical direction and perpendicular to its longitudinal direction, is illustrated by a double arrow 28 and runs perpendicular to the plane of Fig. 1. The vehicle axle 20 has, in particular, two second vehicle wheels 30, which are spaced apart from each other in the transverse direction and are arranged on opposite sides of the motor vehicle 10 in the transverse direction. The vehicle wheels 26 and 30 are ground contact elements by which the motor vehicle 10 is supported downwards against the ground 16 in the vertical direction, particularly during the process. If the motor vehicle 10 were driven along the ground 16, the ground contact elements would roll, in particular directly, along the ground 16.

[0035] Each vehicle wheel 26 is equipped with a first wheel brake 32. Each wheel brake 32 is a friction brake, specifically a disc brake. The first wheel brakes 32 form a first braking device 34, by means of which the vehicle wheels 26 can be braked, thus enabling the vehicle wheels 26 to be locked in place.

[0036] Each vehicle wheel 30 is assigned a second wheel brake 36. The second wheel brake 36 is preferably a friction brake, in particular a disc brake. The wheel brakes 36 form a second braking device 38, by means of which the vehicle wheels 30 can be locked in place, thus enabling the vehicle wheels 30 to be brought to a standstill. The braking devices 34 and 38 are components of a service brake of the motor vehicle 10, whose service brake is, for example, hydraulically actuated. By actuating the service brake, in particular hydraulically, the vehicle wheels 26 and 30 can be braked, i.e., slowed down. Each vehicle wheel 26, 30 is rotatable about a respective wheel axis relative to the structure 12.The term "fixed braking" means that, during or by means of the respective fixed braking, the respective vehicle wheel 26, 30 is braked by means of the respective, assigned wheel brake 32, 36 in such a way that a rotation of the respective vehicle wheel 26, 30 about the respective wheel axis of rotation of the respective vehicle wheel 26, 30 relative to the structure 12 is prevented.

[0037] The motor vehicle 10 also has a wheel suspension 40 by means of which the vehicle wheels 26 and 30 are articulated and rotatable about their axes relative to the body 12 in such a way that wheel movements of the respective vehicle wheels 26 and 30 are enabled, i.e., permitted, at least in the vertical direction of the vehicle and relative to the body 12. This means that the respective vehicle wheels 26 and 30 move translationally back and forth relative to the body 12 during their respective wheel movements, at least in the vertical direction of the motor vehicle 10. The respective wheel movements of the respective vehicle wheels 26 and 30 are also referred to as compression and rebound movements, whereby the respective vehicle wheel 26 moves translationally upwards relative to the body 12 during its respective compression movement in the vertical direction of the vehicle.Furthermore, during its respective rebound movement, each vehicle wheel 26, 30 moves downwards translationally relative to the structure 12 in the upward direction of the vehicle. For example, each vehicle wheel 26, 30 is assigned a respective spring and damper element 42, by means of which the respective vehicle wheel 26, 30, to which the respective spring and damper element 42 is assigned, is supported against the structure 12 in a springing and / or damping manner. This means that the respective wheel movements of the respective vehicle wheel 26, 30, to which the respective spring and damper element 42 is assigned, are to be springed and / or damped by means of the respective spring and damper element 42. In addition, each vehicle wheel 26, 30 is assigned, for example, at least one respective wheel control arm 44 of the wheel suspension 40.By means of the respective wheel link 44, also referred to as the return link, the respective vehicle wheel 26, 30 is articulated to the superstructure 12 as described above, and thus coupled to the superstructure 12. It can be seen that the brake device 34, as the first brake device, is assigned to the vehicle wheels 26 and thus to the vehicle axle 18. It can also be seen that the brake device 38, as the second brake device, is assigned to the vehicle wheels 30 and thus to the second vehicle axle 20.

[0038] The motor vehicle 10 also has a drive system 46, which is shown schematically in Fig. 1. The drive system 46 is assigned to the vehicle axle 20 and thus to the vehicle wheels 30. This means that the vehicle wheels 30 can be driven by means of the drive system 46, in particular bypassing the vehicle wheels 26. For example, the drive system 46 is an electric drive system by means of which the vehicle wheels 30 can be driven purely electrically, in particular bypassing the vehicle wheels 26.

[0039] As can be seen in Fig. 1, for example, an object initially placed on the floor 16 must be lifted upwards by a person in the vehicle's vertical direction and / or vertically upwards, thereby overcoming the height H in order to be moved over the loading edge 14 and into the storage compartment. This allows the storage compartment to be loaded. To unload the storage compartment, an object initially placed in the storage compartment must be removed, moved over the loading edge 14, and then lowered in the vehicle's vertical direction and / or vertically to be placed on the floor 16. The lower the height H, the easier the loading and unloading of the storage compartment can be.When the motor vehicle 10 is stationary, a low height H is unproblematic. However, during travel, a sufficiently high height H is advantageous to ensure adequate ground clearance and thus prevent unwanted collisions between the motor vehicle 10 or its superstructure 12 and objects on the ground 16. Therefore, there is a conflict between a high height H while the motor vehicle 10 is in motion and a low height H when the motor vehicle 10 is stationary.

[0040] To resolve this conflict of objectives and to enable easy and convenient loading and unloading of the vehicle 10 in the storage compartment while stationary, the aforementioned procedure for adjusting the height H of the loading edge 14 is carried out. In a first step S1 of the procedure, the vehicle 10 is first braked using the first braking device 34. During or by means of the first brake application, the vehicle wheels 26 of the vehicle axle 18, in particular all of them, are braked by means of the braking device 34 and thus secured against rotation about the respective wheel axis and relative to the body 12. In the case of a time interval corresponding to the first step

[0041] In the second step S2 of the method, the drive system 46 applies a drive torque, illustrated by an arrow 48, to the respective vehicle wheel 30, in particular to all vehicle wheels 30, of the vehicle axle 20, such that, particularly in conjunction with an axle kinematics formed in particular by the wheel suspension 40, at least of the vehicle axle 20 and preferably also of the vehicle axle 18, a movement of the loading edge 14 in the upward direction of the vehicle or in the vertical downward direction is effected, thus lowering the loading edge 14 and moving it towards the ground 16, thereby reducing the height H, for example from a first value to a second value that is lower than the first value. In the second step,

[0042] In the third step S3 of the procedure, a second braking action of the motor vehicle 10 is carried out by means of the second braking device 38, in particular while the drive torque is applied to the, in particular all, vehicle wheels 30 and in particular while the first braking action continues. During or by means of the second braking action, the, in particular all, vehicle wheels 30 of the vehicle axle 20 are braked by means of the braking device 38 in such a way that the respective vehicle wheel 30, in particular all vehicle wheels 30, of the vehicle axle 20 is secured against any rotation about the respective wheel axis of rotation of the respective vehicle wheel 30 and relative to the body 12.For example, the motor vehicle 10 has, particularly in its interior, an initiating device that can be operated manually by a person, such as the driver, by means of which a sequence of steps SI, S2, and S3 can be initiated by operating the initiating device, particularly manually. After the sequence has been initiated, that is, as a result of the initiating device being operated and before the first step S1 of the procedure, an initiating step IS of the procedure, also referred to as the start step, is carried out. In the initiating step IS, it is checked whether the initiating device has been operated by the person. The sequence of steps SI, S2, and S3 then and only occurs, that is, the steps SI, S2, and S3 are carried out if and only if the initiating step IS detects the first force, that is, the force, that caused by the person's operation of the initiating device.

[0043] Figure 2 also shows a test step PS. Test step PS is performed before the first step S1 and, in this case, after the initiation step IS, and thus as a result of the activation of the initiation device. It is evident that test step PS could be repeated after the first step S1 and before the second step S2. Alternatively or additionally, test step PS could be performed again after step S2 and before step S3. Test step PS verifies whether a safety condition is met, whereby the sequence of steps SI, S2, and S3 occurs only if and when the test step PS determines that the safety condition is met.It should be noted that performing test step PS after step S1 and before step S2, as well as performing test step PS after step S2 and before step S3, is optional. The procedure also includes a termination step BS, which is performed after the third step S3. In termination step BS, the drive system 46, which is activated at least during the application of the drive torque, is deactivated. Termination step BS is performed, for example, as a result of actuation of the initiating means and as a result of actuation, in particular manually and by a person, of another control element of the motor vehicle 10, especially one located in the interior. Reference numeral list.

[0044] 10 Motor vehicle 12 Body

[0045] 14 Loading edge

[0046] 16 Floor

[0047] 18 first vehicle axle

[0048] 20 second vehicle axle

[0049] 22 Double Arrow

[0050] 24 Double Arrow

[0051] 26 first vehicle axle

[0052] 28 Double Arrow

[0053] 30 second vehicle wheel

[0054] 32 Wheel brake

[0055] 34 first braking device

[0056] 36 Wheel brake

[0057] 38 second brake device

[0058] 40 Wheel suspension

[0059] 42 Spring and damper element

[0060] 44 Wheel control arms

[0061] 46 Drive system 48 Arrow BS Termination step H Height IS Initiation step

[0062] PS Exam step

[0063] S1 first step S2 second step S3 third step

Claims

Mercedes-Benz Group AG Patent claims 1. Method for adjusting the height (H) of a loading edge (14) of a motor vehicle (10), wherein: - the motor vehicle (10) a first vehicle axle (18) with one of the first vehicle axles (18) associated first brake device (34), a second vehicle axle (20) with a second brake device (38) associated with the second vehicle axle (20) and a drive system (46) associated with the second vehicle axle (20); - in a first step (Sl) of the procedure, a first braking action of the motor vehicle (10) is carried out using the first braking device (34); - in a second step (S2) of the procedure following the first step (S1), a drive torque is applied by the drive system (46) to at least one vehicle wheel (30) of the second vehicle axle (20); and - in a third step (S3) of the procedure following the second step (S2), a second braking action of the motor vehicle (10) is carried out using the second braking device (38); characterized in that a test step (PS) is carried out before the first step (S1) in which it is checked whether a safety condition is met, wherein a sequence of steps (S1, S2, S3) of the procedure only takes place if the safety condition is met.

2. Method according to claim 1, characterized in that the motor vehicle (10) has an initiation means that can be actuated by a person, by means of which a sequence of steps (S1, S2, S3) of the method can be initiated by actuating the initiation means, wherein after initiating the sequence and in time before The first step (Sl) of the procedure is followed by an initiation step (IS) in which it is checked whether the initiation means has been activated by the person, whereby the sequence only takes place if the activation of the initiation means by the person is detected by the initiation step (IS).

3. Method according to claim 1 or 2, characterized in that the safety condition comprises a presence condition of a person in a driver's seat of the motor vehicle (10).

4. Method according to one of the preceding claims, characterized in that the safety condition comprises drive system activity detection.

5. Method according to one of the preceding claims, characterized in that after the third step (S3) the drive system (46) is deactivated.

6. Method according to one of the preceding claims, characterized in that the first emergency braking comprises an emergency braking of all vehicle wheels (26) of the first vehicle axle (18), wherein the second emergency braking comprises an emergency braking of all vehicle wheels (30) of the second vehicle axle (20).

7. Motor vehicle (10) which is designed to carry out a method according to one of the preceding claims.

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