US 11,884,346 B2
Motor vehicle with driven wheels on a number of axles and method for controlling same
Alexander Seiffer, Karlsruhe (DE); and Philipp Kautzmann, Karlsruhe (DE)
Assigned to Schaeffler Technologies AG & Co. KG, Herzogenaurach (DE)
Appl. No. 17/431,530
Filed by Schaeffler Technologies AG & Co. KG, Herzogenaurach (DE)
PCT Filed Dec. 6, 2019, PCT No. PCT/DE2019/101054
§ 371(c)(1), (2) Date Aug. 17, 2021,
PCT Pub. No. WO2020/169134, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 10 2019 104 392.1 (DE), filed on Feb. 21, 2019.
Prior Publication US 2022/0111892 A1, Apr. 14, 2022
Int. Cl. G06F 17/00 (2019.01); B62D 9/00 (2006.01); B60K 17/356 (2006.01); B60L 15/20 (2006.01); G07C 5/02 (2006.01)
CPC B62D 9/005 (2013.01) [B60K 17/356 (2013.01); B60L 15/2009 (2013.01); B62D 9/002 (2013.01); G07C 5/02 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for controlling a motor vehicle, wherein the motor vehicle comprises several wheels, wherein two of the several wheels are arranged on a steerable axle of the motor vehicle and are respectively driven by individual wheel drives; wherein at least one of the several wheels is arranged on a non-steerable axle of the motor vehicle and is driven by an individual wheel drive; and wherein the method comprises the following steps:
detecting a malfunction of one of the individual wheel drives of the wheels that are arranged on the steerable axle of the motor vehicle, wherein another of the individual wheel drives of the wheels arranged on the steerable axle of the motor vehicle is still fully functional;
in response to the detected malfunction, generating a drive torque or a braking torque with the functional individual wheel drive of the wheel that is arranged on the steerable axle of the motor vehicle in order to steer the wheels arranged on the steerable axle in a predetermined direction; and
in response to the detected malfunction, generating a drive torque or a braking torque with the wheel drive of the wheel that is arranged on the non-steerable axle of the motor vehicle in order to at least partially effect a predetermined longitudinal movement of the motor vehicle.