Method for operating a motor vehicle, and motor vehicle

Abstract

The invention relates to a method for operating a motor vehicle (1), wherein the motor vehicle (1) has at least three controllable actuators (5-7) of different types, in particular selected from a group comprising braking actuator (5), steering actuator (6) and drive actuator (7), wherein the motor vehicle (1) is monitored with regard to a driving request, selected from a group comprising braking request, steering request and acceleration request or any combination thereof, and wherein, when a corresponding driving request is detected, at least one of the actuators (5-7) is controlled so as to fulfil the driving request. According to the invention, a respective current and / or expected performance of the actuators (5-7) and / or of a particular device (8-10) able to be actuated by the respective actuator (5-7) is ascertained, and the respectively ascertained performance is used as a basis to determine which of the actuators (5-7) is controlled so as to fulfil the driving request and / or the extent to which the driving request is fulfilled.

Description

[0001] R.411576

[0002] - 1 -

[0003] Description

[0004] title

[0005] Procedure for operating a motor vehicle, motor vehicle

[0006] The invention relates to a method for operating a motor vehicle, wherein the motor vehicle has at least three controllable actuators of different types, in particular selected from a group comprising brake actuator, steering actuator and drive actuator, wherein the motor vehicle is monitored for a driving request, selected from a group comprising brake request, steering request and acceleration request or any combination thereof, and wherein, when a corresponding driving request is detected, at least one of the actuators is controlled to fulfill the driving request.

[0007] Furthermore, the registration concerns a motor vehicle with a control unit specifically designed to carry out such a procedure.

[0008] State of the art

[0009] Methods of the type mentioned above are known from the prior art. Typically, corresponding driving requests are fulfilled by means of their respective actuators; for example, a braking request is fulfilled by controlling the brake actuator. It is also known to control the brake actuator depending on its performance, particularly its wear condition, and / or to limit the maximum speed of the vehicle accordingly.

[0010] For example, patent application DE 102005048534 A1 discloses a method for monitoring a mechanical component of a vehicle, wherein operating data of the component is recorded and at least one characteristic value for the condition of the component is determined on the basis of the operating data, R.411576

[0011] - 2 -

[0012] wherein a brake is continuously monitored as a component based on a characteristic parameter, and if an impending brake malfunction is identified based on the characteristic parameter, the brake and / or another device, in particular the continuous brake or drive motor, of the vehicle is controlled or regulated in such a way as to reduce and / or limit the instantaneous load on the brake. In particular, in addition to or as an alternative to relieving the load on the brake, the maximum speed of the vehicle is limited.

[0013] The patent application DE 102021 207035 A1 discloses a method for operating a vehicle brake, wherein the method comprises the following steps: determining a current temperature of a heat sink of the vehicle brake, calculating a current safety temperature, comparing the temperature with the safety temperature, and if the temperature is at least as high as the safety temperature, specifying at least one driving parameter, in particular a maximum speed.

[0014] Finally, patent application DE 102016 116414 A1 discloses a method for optimizing the wear of rail vehicles, comprising the steps of: determining at least one wear state of at least one component of a rail vehicle, and determining an optimal driving style for the rail vehicle taking into account the at least one determined wear state. Depending on the wear state of the brakes, the maximum speed is reduced in particular to ensure compliance with a predetermined braking distance.

[0015] Disclosure of the invention

[0016] The inventive method with the features of claim 1 is characterized in that the current and / or expected performance of the actuators and / or of a respective device actuated by the respective actuator is determined, and that, depending on the performance determined in each case, it is determined which of the actuators is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled. The motor vehicle has, in particular, a plurality of, but at least three, controllable actuators, of which at least three R.411576

[0017] - 3 -

[0018] The actuators are of different types. In this context, "type of actuator" means that they are assigned to different domains of the motor vehicle. For example, one actuator each is assigned to the brake, drive, and steering domains, so that the motor vehicle has at least one brake actuator, one steering actuator, and one drive actuator. Particularly preferably, at least one actuator is assigned to a domain of the motor vehicle different from the brake, drive, and steering domains, for example, a chassis, so that the motor vehicle has, for example, at least one controllable chassis actuator, in particular a damping actuator. Any combination and number of corresponding actuators are conceivable for the method according to the invention. In particular, at least several actuators of one type are present.The method according to the invention is based on a holistic approach to the motor vehicle, in which, across domains (the domains considered include, in particular, as described above, at least the drive, brakes, steering, and / or chassis), corresponding actuators are taken into account in their entirety, and the corresponding ability of the motor vehicle to fulfill a corresponding driving request is divided among them and / or a possible degree of fulfillment is defined. This cross-domain strategy advantageously ensures that the motor vehicle exhibits sufficient driving stability at all times and remains safely controllable after the corresponding driving request has been fulfilled. The motor vehicle is operated, in particular, in at least partially automated, and especially fully autonomous, ferry operation.Because the actuators are considered as a whole, a degradation of only one actuator does not necessarily lead to, for example, a limitation of the vehicle's maximum speed, as mentioned earlier, as long as the other actuators can compensate for the degradation. Thus, if, for example, the brake actuator exhibits reduced performance, a braking request can be fulfilled alternatively or supplementarily by the steering actuator and / or the drive actuator. In this way, the driver does not perceive any overall degradation of the vehicle's handling, or the limitation of the maximum speed can be delayed or even avoided altogether if the braking request can still be reliably fulfilled by the other actuators. See R.411576.

[0019] - 4 -

[0020] In this context, a driving request refers to a desired trajectory of the motor vehicle resulting from the corresponding braking, acceleration, and / or steering maneuvers. The driving request is determined, in particular, by detecting the activation of a driver-related control device, especially a pedal or handle. This is then a driver request, in the sense of a wish expressed by the driver. Alternatively or additionally, a driving request is specified by an autonomous vehicle control system, for example, in autonomous ferry operation, without requiring any intervention or input from a driver. The corresponding actuators are designed, in particular, as part of a respective by-wire system and therefore do not have a mechanical connection to a driver-operated control device, such as a pedal or steering wheel.In this context, "current performance" refers to the performance actually present at the time the procedure is carried out, while "expected performance" refers to a future, predicted performance, particularly that expected within a given time interval and / or upon fulfillment of the corresponding driving request. The performance determined in each case represents a corresponding performance commitment from the respective actuator or device and expresses its ability to fulfill a given driving request. Specifically, a fulfillable driving request is limited to a predefined range, and the request is only fulfilled as long as it falls within this range.If, during the performance assessment, it is determined that the vehicle's stability is only guaranteed up to a certain driving request, then any further driving request will preferably not be fulfilled, especially as long as it is not safety-critical. This limits the desired trajectory, as characterized by the driving request, to a permissible trajectory that the vehicle can still control. For example, acceleration of the vehicle beyond a certain speed would not be permitted unless it is ensured that the vehicle can be safely decelerated from that speed, particularly with a sufficiently high deceleration. This is to prevent misuse of the actuators by the driver, or at least to comply with R.411576.

[0021] - 5 -

[0022] To reduce their impact, the extent to which the driving request is fulfilled is limited, depending on the system's capabilities, and may even be reduced to zero. For example, a simultaneous acceleration and braking request will not be fulfilled, or an acceleration request will be ignored during braking because this would be contradictory and could even damage the actuators. Similarly, a braking or acceleration request combined with a steering maneuver will only be fulfilled to a predetermined extent to keep the vehicle in its lane and avoid exceeding the load limits of the respective actuators, ensuring they operate only within their current and / or expected capabilities. Driving safety always takes top priority, in the latter case, for example, maintaining the vehicle's course through a curve.Other aspects such as damage, wear, consumption, or comfort are given lower priority. The determined performance is preferably validated, for example, during the next use / control of the respective actuator, and corrected accordingly if a deviation is detected. For example, it is determined whether an actual deceleration or acceleration corresponds to a deceleration or acceleration expected depending on the actuation force, and / or whether a wheel associated with the actuator exhibits unexpectedly high or low slip, for example, locking up, and the determined performance is corrected accordingly, in particular reduced.

[0023] According to a preferred embodiment of the invention, depending on the performance of at least one of the actuators and / or one of the devices, the maximum achievable speed and / or acceleration of the motor vehicle is limited, and an acceleration request is only fulfilled to the extent that the limited maximum achievable speed and / or acceleration is / are reached. Such a performance-dependent limitation of the speed and / or acceleration advantageously ensures that the motor vehicle is operated optimally within a safe range, depending on the situation. In particular, the speed and / or acceleration is set in such a way that the motor vehicle, taking into account the respective R.411576

[0024] - 6 -

[0025] Performance is still manageable. Preferably, the performance of several, in particular each, actuators and / or several, in particular each, devices is taken into account.

[0026] Particularly preferably, depending on the performance of at least one of the actuators and / or one of the devices, the maximum achievable deceleration of the vehicle is limited, and a braking request is only fulfilled to the extent that the limited maximum achievable deceleration is reached. Such a performance-dependent limitation of the deceleration has the advantage that overloading of the corresponding actuators is reliably avoided. In particular, the deceleration is limited in such a way that the vehicle remains controllable, taking into account the respective performance. Preferably, the performance of several, in particular each, of the actuators and / or several, in particular each, of the devices is taken into account.

[0027] According to a preferred embodiment of the invention, depending on the performance of at least one of the actuators and / or one of the devices, the maximum achievable steering angle of the motor vehicle is limited, and a steering request is only fulfilled to the extent that the limited maximum achievable steering angle is reached. Such a performance-dependent limitation of the steering angle advantageously ensures that overloading of the corresponding actuators is reliably avoided. In particular, the steering angle is limited in such a way that the motor vehicle remains controllable, taking into account the respective performance. Preferably, the performance of several, in particular each, of the actuators and / or several, in particular each, of the devices is taken into account.

[0028] Particularly preferred is the fulfillment of a braking and / or steering request by controlling the brake actuator, steering actuator, and / or drive actuator, depending on the performance of at least one of the actuators and / or one of the devices. Such a procedure for fulfilling a braking and / or steering request offers the advantage that the actuators are used optimally depending on the situation, in particular in combination (R.411576).

[0029] - 7 -

[0030] The actuators can be controlled in various ways. This allows both braking and steering requests to be fulfilled by any of the aforementioned actuators. For example, a braking request can be fulfilled not only by a brake actuator, but also by recuperation using a drive actuator incorporating an electric motor, and / or by steering a wheel, particularly two wheels on different sides of the vehicle, such as the same axle, using appropriate steering actuators, especially individual wheel actuators. Similarly, a steering request can be fulfilled by controlling a brake actuator and / or drive actuator of a wheel of the vehicle to generate a corresponding yaw moment.

[0031] According to a preferred embodiment of the invention, the performance of at least one of the actuators and / or one of the devices is determined by means of a sensor arrangement and / or by means of a mathematical model. This approach advantageously ensures that the respective performance is determined robustly and accurately. For example, the sensor arrangement comprises an accelerometer and / or a temperature sensor. The model particularly includes a temperature model to determine, for example, the temperature of the respective actuator and / or device from historically recorded power output over time and / or cooling phases. In particular, the temperature is determined indirectly via the temperature of a cooling circuit associated with the actuator and / or device.

[0032] Particularly preferably, the performance of at least one of the actuators and / or devices is determined based on a wear condition, vibration behavior, temperature, historical performance determined under the same driving request and / or driving conditions, and / or a number of actuations / activations, especially within a predetermined time interval. Considering such parameters offers the advantage of determining the respective performance with exceptional reliability and accuracy. For example, increased wear is recognized as resulting in a correspondingly reduced performance, as is the case with altered / increased vibration behavior and / or elevated temperature. R.411576

[0033] - 8 -

[0034] Historical performance under identical conditions also improves the accuracy of determining current performance, as does considering the number of previous activations or actuations, which is expected to decrease performance, particularly because this also increases wear and / or temperature, as mentioned above. These parameters are typically interdependent. Preferably, several, and in particular all, of the aforementioned parameters are considered to further improve the accuracy of determining performance.

[0035] According to a preferred embodiment of the invention, the performance of at least one of the actuators and / or one of the devices is determined based on at least one piece of environmental information about the vehicle, in particular the road surface condition, road profile, and / or weather conditions, and / or a planned route. This determines which actuator is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled. By taking environmental information into account in this way, it is advantageously ensured that the determination of the performance, the selection / determination of the actuators to be controlled, and / or the degree to which the driving request is fulfilled are further improved. This is particularly relevant in poor road conditions or difficult weather conditions, such as slipperiness / wetness, low temperatures, etc.It can be assumed that the performance is reduced to the extent that, with constant control input, the actual performance achieved is diminished because, for example, the corresponding drive or braking power can no longer be transferred to the road surface in the same way. Accordingly, it makes sense to limit the extent to which the driving request can be fulfilled from the outset, or, as described above, to limit the maximum achievable speed, deceleration, and / or acceleration.

[0036] Particularly preferred is the performance of at least one of the actuators and / or one of the R.411576 depending on an operating state, in particular state of charge and / or temperature, of an electrical energy storage device associated with the actuator and / or the device.

[0037] - 9 -

[0038] Devices determine and / or identify which actuators are activated to fulfill the driving request and / or to what extent the driving request is fulfilled. By taking the operating state of the energy storage system into account in this way, the advantage is gained that the accuracy of the performance determination is further improved, or rather, a more precise decision can be made as to which actuators are actually activated and / or to what extent the driving request is fulfilled. If the operating state of the energy storage system deteriorates, the performance of the corresponding actuators is limited, and consequently, so is their ability to fulfill a corresponding driving request. If this is taken into account from the outset, the control of the actuators can be advantageously adjusted accordingly.

[0039] According to a preferred embodiment of the invention, depending on a predetermined driving mode, in particular an energy-saving, sporty, and / or comfort-oriented driving mode, it is determined which actuators are controlled to fulfill the driving request and / or to what extent the driving request is fulfilled. By taking the corresponding driving mode into account, it is advantageously ensured that the selection of the actuators and / or the degree to which the driving request is fulfilled is situation-specific. For example, in an energy-saving driving mode, the degree of fulfillment is deliberately limited, in particular maximum acceleration, in order to minimize the vehicle's energy consumption.Similarly, in a sporty driving mode, the degree of fulfillment is restricted as little as possible, but rather the control and selection are optimized to maximize the vehicle's ability to fulfill a corresponding driving request, without regard to energy consumption, possibly only taking into account the avoidance of possible damage to one of the actuators.

[0040] The motor vehicle with the features of claim 11 has at least three controllable actuators of different types, in particular selected from a group comprising a brake actuator, a steering actuator, and a drive actuator. It is characterized by a control device specifically designed to carry out the method according to the invention. R.411576

[0041] - 10 -

[0042] Further preferred features and combinations of features will become apparent from the foregoing and from the claims. The invention will now be explained in more detail with reference to the drawings. These drawings show...

[0043] Figure 1 shows a motor vehicle, and

[0044] Figure 2 shows a method for operating the motor vehicle.

[0045] Figure 1 shows, only schematically, a motor vehicle 1. The motor vehicle 1 has four wheels 2. Two of the wheels 2 are assigned to a first axle 3, for example a front axle, and two other wheels 2 are assigned to a second axle 4, for example a rear axle, of the motor vehicle 1.

[0046] The motor vehicle has a plurality of controllable actuators 5-7, each with an associated device 8-10, in this case from the domains of drive, brake, and steering. According to further embodiments not shown, the motor vehicle has at least one, and in particular a plurality of, further actuators from other domains, for example, a chassis, in particular a chassis actuator, such as a damping actuator, suspension actuator, and / or an actuator of an active wheel suspension, for example, a level control system.

[0047] Preferably, at least one of the actuators 5-7, and in particular each of the actuators 5-7, comprises an electric machine. The actuators 5-7 are each configured to actuate the device 8-10 associated with them. In particular, at least one of the devices 8-10 comprises a transmission, for example a steering gear or differential gear, and / or an actuating element, for example a brake piston.

[0048] Thus, the motor vehicle, by way of example only, has a controllable brake actuator 5, steering actuator 6, and drive actuator 7 on each of the two wheels 2 of the first axle 3. A brake device 8 is assigned to the brake actuator 5, a steering device 9 to the steering actuator 6, and a drive device 10 to the drive actuator 7. On the two wheels 2 of the second axle 4 R.411576

[0049] - 11 -

[0050] The motor vehicle has at least one brake actuator 5 with a brake device 8. According to an embodiment not shown, the motor vehicle also has one of the described actuators 5-7 together with a device 8-10 on each of the two wheels 2 of the second axle 4.

[0051] The wheel-specific design and arrangement of the actuators 5-7 and the devices 8-10, particularly on the first axle 3, is not mandatory, but allows for maximum flexibility in controlling the respective actuators, especially for the method described below. The only requirement for the method is that the motor vehicle 1 has at least one actuator of each type, i.e., a brake actuator 5, a steering actuator 6, and a drive actuator 7.

[0052] According to further embodiments not shown, the motor vehicle 1 can just as well have at least one of the actuators 5-7 and the respective devices 8-10 axle by axle, i.e. for two of the wheels 2 together, for example the steering actuator 6 with the steering device 9 and / or the drive actuator 7 with drive device 10.

[0053] The motor vehicle 1 further comprises at least one actuating device 11, in particular a pedal or handle, for specifying at least one driving command, selected from a group of braking commands, steering commands, and acceleration commands, and any combination thereof. Preferably, the motor vehicle comprises a plurality of actuating devices 11, for example, a brake pedal, an accelerator pedal, and a steering wheel. The actuating device 11 can also be configured as an actuating surface or joystick. In particular, the actuating device 11 is associated with a sensor arrangement, not shown in detail here, which is configured to detect an actuation of the actuating device 11, for example, a displacement, an actuating force exerted thereon, and / or an angle of rotation.

[0054] Finally, the motor vehicle 1 also has a control unit 12, wherein each of the actuators 5-7 is communicatively connected to the control unit 12 via a communication link, as described in R.411576

[0055] - 12 -

[0056] The corresponding lines are indicated. The control unit 12 is designed to detect a corresponding driving request, for example, a driving request specified by an autonomous vehicle control system, in particular by means of a further control unit not shown, and / or a driving request characterized by an actuation of the corresponding actuating device 11, for example by means of the corresponding sensor arrangement, or to specify a corresponding driving request itself, and to control the actuators 5-7 depending on the driving request.

[0057] According to further embodiments not shown, a plurality of control units 12 are provided, for example, one control unit 12 for each type of actuator 5-7, i.e., one per domain (drive, brake, steering). Each control unit 12 is then configured to control its assigned actuators 5-7. In particular, the control units 12 are directly interconnected via a further communication link, or via a central control unit (which can then, for example, determine or specify the driving request) in order to coordinate the control of the actuators 5-7 as a whole.

[0058] The following describes an advantageous method for operating the motor vehicle 1 with reference to Figure 2. Figure 2 illustrates the method using a flowchart. In particular, the method ensures that the actuators 5-7 are considered holistically and that their performance is optimally taken into account when fulfilling a corresponding driving request.

[0059] In step S1, the procedure begins by monitoring the motor vehicle 1 for a driving request selected from a group of braking requests, steering requests, and acceleration requests, as well as any combination thereof, in particular by monitoring a decisive actuation of the actuating device 11, as described above. If a corresponding driving request is detected, the procedure continues in step S2. R.411576

[0060] - 13 -

[0061] In step S2, the current and / or expected performance of the actuators 5-7 and / or the respective devices 8-10 that can be actuated by the respective actuator 5-7 is determined. The performance of at least one of the actuators 5-7 and / or one of the devices 8-10 is determined in particular by means of a sensor arrangement and / or by means of a mathematical model.

[0062] Particularly preferably, the performance of at least one of the actuators 5-7 and / or one of the devices 8-10 is determined as a function of a wear condition, a vibration behavior, a temperature, a historical performance determined under the same driving request and / or the same driving conditions and / or a number of actuations / activations, in particular within a specified time interval, of the respective actuator 5-7 and / or the respective device 8-10.

[0063] Alternatively or additionally, the performance of at least one of the actuators 5-7 and / or one of the devices 8-10 is determined as a function of at least one environmental information of the motor vehicle 1, in particular road condition, road course and / or weather conditions, a planned route, and / or an operating condition, in particular state of charge and / or temperature, of an electrical energy storage device assigned to the actuator 5-7 and / or the device 8-10.

[0064] In step S3, depending on the determined performance capability, it is determined which of the actuators 5-7 is controlled to fulfill the travel request and / or to what extent the travel request is fulfilled. In other words, from the available actuators 5-7, it is selected which ones will actually be used to fulfill the travel request and / or it is determined to what extent one or more corresponding actuators 5-7 are controlled.

[0065] Preferably, depending on at least one piece of environmental information from the motor vehicle 1, in particular road surface condition, road course and / or weather conditions, a planned route, and / or an operating condition, in particular state of charge and / or temperature, one of the R.411576

[0066] - 14 -

[0067] Actuator 5-7 and / or the electrical energy storage device 8-10, in particular analogous to the aforementioned determination of performance, determines which of the actuators 5-7 is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled.

[0068] Alternatively or additionally, depending in particular on a given driving mode, especially an energy-saving, sporty and / or comfort-oriented driving mode, it is determined which of the actuators 5-7 is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled.

[0069] A braking request and / or steering request is preferably fulfilled, depending on the performance of at least one of the actuators 5-7 and / or one of the devices 8-10, by controlling at least one of the brake actuators 5, steering actuators 6 and / or drive actuators 7.

[0070] In particular, depending on the performance of at least one of the actuators 5-7 and / or one of the devices 8-10, the maximum achievable speed and / or acceleration of the motor vehicle 1 will be limited. An acceleration request will then only be fulfilled to the extent that the limited maximum achievable speed and / or acceleration is / are reached.

[0071] Alternatively or additionally, depending in particular on the performance of at least one of the actuators 5-7 and / or one of the devices 8-10, the maximum achievable deceleration of the motor vehicle 1 is limited. A braking request is then only fulfilled to the extent that the limited maximum achievable deceleration is reached.

[0072] Alternatively or additionally, depending in particular on the performance of at least one of the actuators 5-7 and / or one of the devices 8-10, a maximum achievable steering angle of the motor vehicle 1 is limited. A steering request is then only fulfilled to the extent that the limited maximum achievable steering angle is reached. R.411576

[0073] - 15 -

[0074] Finally, in step S4, the selected actuator(s) 5-7 and / or corresponding actuators 5-7 are controlled to the previously determined extent to fulfill the driving request.

Claims

R.411576 - 16 - Claims 1. Procedure for operating a motor vehicle (1), - wherein the motor vehicle (1) has at least three controllable actuators (5-7) of different types, in particular selected from a group comprising brake actuator (5), steering actuator (6) and drive actuator (7), - wherein the motor vehicle (1) is monitored for a driving request selected from a group of braking requests, steering requests and acceleration requests or any combination thereof, and - wherein, when a corresponding travel request is recognized, at least one of the actuators (5-7) is controlled to fulfill the travel request, characterized in that that a current and / or expected performance capability of the actuators (5-7) and / or of a respective device (8-10) that can be actuated by the respective actuator (5-7) is determined, and that, depending on the performance determined in each case, it is determined which of the actuators (5-7) is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled.

2. Method according to claim 1, characterized in that, depending on the performance of at least one of the actuators (5-7) and / or one of the devices (8-10), a maximum achievable speed and / or acceleration of the motor vehicle (1) is / are limited, and that an acceleration request is only fulfilled to the extent that the limited maximum achievable speed and / or acceleration is / are reached.

3. Method according to one of the preceding claims, characterized in that, depending on the performance of at least one of the actuators (5-7) and / or one of the devices (8-10), a maximum achievable deceleration of the motor vehicle (1) is limited, and that a R.411576 - 17 - The braking request is only fulfilled to the extent that the limited maximum achievable deceleration is reached.

4. Method according to one of the preceding claims, characterized in that, depending on the performance of at least one of the actuators (5-7) and / or one of the devices (8-10), a maximum achievable steering angle of the motor vehicle (1) is limited, and that a steering request is only fulfilled to the extent that the limited maximum achievable steering angle is reached.

5. Method according to one of the preceding claims, characterized in that, depending on the performance of at least one of the actuators (5-7) and / or one of the devices (8-10), a braking request and / or steering request is fulfilled by controlling the brake actuator (5), steering actuator (6) and / or drive actuator (7).

6. Method according to one of the preceding claims, characterized in that the performance of at least one of the actuators (5-7) and / or one of the devices (8-10) is determined by means of a sensor arrangement and / or by means of a mathematical model.

7. Method according to one of the preceding claims, characterized in that, depending on a wear condition, a vibration behavior, a temperature, a historical performance determined under the same driving request and / or the same driving conditions and / or a number of actuations / activations, in particular within a predetermined time interval, of the actuator (5-7) and / or the device (8-10), the performance of at least one of the actuators (5-7) and / or one of the devices (8-10) is determined.

8. Method according to one of the preceding claims, characterized in that, depending on at least one environmental information of the motor vehicle (1), in particular road surface condition, road surface course and / or weather conditions, and / or a planned route, the performance of at least one of the actuators (5-7) and / or one of the R.411576 - 18 - Devices (8-10) determine and / or determine which of the actuators (5-7) is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled.

9. Method according to one of the preceding claims, characterized in that, depending on an operating state, in particular state of charge and / or temperature, of an electrical energy storage device associated with the actuator (5-7) and / or the device (8-10), the performance of at least one of the actuators (5-7) and / or one of the devices (8-10) is determined and / or it is determined which of the actuators (5-7) is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled.

10. Method according to one of the preceding claims, characterized in that, depending on a predetermined driving mode, in particular comprising an energy-saving, sporty and / or comfort-oriented driving mode, it is determined which of the actuators (5-7) is controlled to fulfill the driving request and / or to what extent the driving request is fulfilled.

11. Motor vehicle (1), with at least three controllable actuators (5-7) of different types, in particular selected from a group comprising brake actuator (5), steering actuator (6) and drive actuator (7), characterized by a control device (12) which is specially configured to carry out the method according to one of the preceding claims.

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