DE102011122526A1 - Method for adjusting effective torque on wheel of vehicle, particularly motor car with two control units, involves determining effective value of torque by calculation provision - Google Patents

Abstract

The method involves determining an effective value of torque by a calculation provision and outputting the determined effective value of torque over an interface. The partial torques are adjusted to a wheel (R) by two control units (C1,C2). The calculation provision and another calculation provision are present in two different, independent executable programs. An independent claim is also included for a device for adjusting an effective torque on a wheel of a vehicle, particularly motor car with two control units.

Description

The invention relates to a method for setting an effective torque on a wheel of a vehicle having at least two actuating units which are each designed to set a partial torque on the wheel. The invention also relates to a device for adjusting an effective torque on a wheel of a vehicle. Finally, the invention relates to a vehicle with such a device.

In motor vehicles so-called active Yaw or torque vectoring devices are known, by means of which drive torques can be distributed in a targeted manner to individual wheels of the motor vehicle. At the wheels of the motor vehicle in each case a defined torque is set, which is calculated via an algorithm which runs in a computing unit. Similarly, other vehicle dynamics control systems, such as the anti-lock braking system (ABS) and electronic stability program (ESP), can be used.

As actuators for the said vehicle dynamics control systems can serve all kinds of controllable devices that can apply torque to at least one of the wheels of a motor vehicle, such as the conventional friction brake, a drive via a combustion and / or electric motor and specific torque vectoring systems , Each of these actuators allows to selectively influence the torque acting on the respective wheel. As a rule, a plurality of actuators are provided by means of which wheel-specific torques can be set (eg friction brake combined with electric single-wheel drive). One speaks of redundant actuators or überaktuierten systems.

The algorithms normally used in the aforementioned vehicle dynamics control systems usually calculate the torque to be set on the wheels independently of the respective actuator, by means of which the calculated torque is to be converted to the wheel. In accordance with today's program architecture, the algorithm accesses an actor directly and is thus tailored to the particular set of existing actuators. If additional actuators are to be integrated, a complex interface development and adaptation of the algorithm is necessary for each set of actuators. This requires a high coordination effort between hardware and software.

From the DE 10 2008 027 620 A1 and DE 10 2005 022 223 A1 are known power cars whose combustion and electric motors together generate an effective driving torque.

It is the object of the invention to provide a method and a device which make it possible to more selectively adjust a torque on a wheel of a vehicle using at least two actuating units and to facilitate the integration of different actuating units.

This object is achieved by a method having the features of claim 1, a device having the features of claim 10, and a vehicle having the features of claim 12.

• a) Festlegen eines effektiven Drehmomentwerts mittels einer ersten Berechnungsvorschrift;
• b) Ausgeben des festgelegten effektiven Drehmomentwerts über eine Schnittstelle;
• c) in Abhängigkeit von dem über die Schnittstelle ausgegebenen effektiven Drehmomentwert Ermitteln je eines Teil-Drehmomentwerts für die zumindest zwei Stelleinheiten über eine zweite Berechnungsvorschrift dergestalt, dass sich bei Einstellen der den Teil-Drehmomentwerten entsprechenden Teil-Drehmomente an dem Rad das effektive Drehmoment ergibt, das dem effektiven Drehmomentwert entspricht; und
• d) Einstellen der Teil-Drehmomente an dem Rad mittels der zumindest zwei Stelleinheiten.

The method according to the invention serves to set an effective torque on a wheel of a vehicle with at least two actuating units which are each designed to set a partial torque on the wheel. The method comprises the following steps:

• a) determining an effective torque value by means of a first calculation rule;
• b) outputting the specified effective torque value via an interface;
• c) depending on the effective torque value output via the interface, determining in each case a partial torque value for the at least two actuating units via a second calculation rule in such a way that the effective torque results when setting the partial torques on the wheel corresponding to the partial torque values, which corresponds to the effective torque value; and
• d) adjusting the partial torques on the wheel by means of the at least two actuators.

In particular, the actuator may be an actuator by means of which the dynamics of the wheel can be acted upon. The first and second calculation instructions may in particular be algorithms which are stored in the form of a program executable in a computer. In particular, the second calculation rule may be different from the first calculation rule. The effective torque is in particular the actually acting on the wheel torque through which z. B. force is transmitted to a roadway. In particular, the sum of all partial torques can yield the effective torque.

The method makes it possible to distribute the effective torque as needed and adapted to the particular driving situation of the vehicle to the individual actuators so that a suitable partial torque is provided by each of these actuators. The effective torque value can be determined by a universal calculation rule, while the distribution of the partial torques on the individual actuating units is performed by the second calculation rule. The Interface ensures the compatibility of the two calculation rules. The calculation rule for the effective torque value is independent of the calculation rule, which takes over the division of the effective torque to the individual partial torques.

Preferably, the first calculation rule and the second calculation rule are present in two different, independently executable programs. If, at a constant effective torque value, the partial torque values are to be redistributed to the individual control units, this embodiment ensures that only the program belonging to the second calculation rule must be modified.

Preferably, the first calculation rule is independent and / or the second calculation rule depends on parameters that characterize the at least two actuators. The second calculation rule can then be used to distribute the partial torque values to the individual actuating units, taking into account the specific characteristics of the individual actuating units, without the first calculation rule having to take these characteristics into account. The first calculation rule can be configured completely independently of the concrete technical implementation of the actuators.

• e) Modifizieren des Satzes der zumindest zwei Stelleinheiten durch Ergänzen und/oder Aktivieren und/oder Entfernen und/oder Deaktivieren von zumindest einer Stelleinheit, welche dazu ausgebildet ist, ein Teil-Drehmoment an dem Rad einzustellen;
• f) unverändertes Beibehalten der ersten Berechnungsvorschrift; und
• g) Anpassen der zweiten Berechnungsvorschrift dergestalt, dass mittels ihr in Abhängigkeit von dem über die Schnittstelle ausgegebenen Drehmomentwert je ein Teil-Drehmomentwert für alle Stelleinheiten des modifizierten Satzes der zumindest zwei Stelleinheiten dergestalt ermittelbar ist, dass sich bei Einstellen der den Teil-Drehmomentwerten entsprechenden Teil-Drehmomente an dem Rad das effektive Drehmoment ergibt.

Preferably, the method comprises the following further steps:

• e) modifying the set of the at least two actuators by supplementing and / or activating and / or removing and / or deactivating at least one actuation unit configured to set a partial torque on the wheel;
• f) maintaining unchanged the first calculation rule; and
• g) adapting the second calculation rule such that a partial torque value for all actuator units of the modified set of the at least two actuator units can be determined depending on the torque value output via the interface in such a way that the part corresponding to the partial torque values is adjusted Torque on the wheel gives the effective torque.

Is z. B. one of the actuators no longer available, this embodiment allows a very flexible and needs-based adaptation of the process to the new circumstances. A modification of the first calculation rule is not necessary, since this may be completely independent of the specific actuators. Only a modification of the second calculation rule has to be made in order to do justice to the changed configuration. If additional control units are to be included, no complex new interface development or adaptation of the first calculation rule is required.

Preferably, the first calculation rule includes one or more torque requests. A torque request may be based on a driver's action (eg, depressing the accelerator pedal, selecting a driving program) or data from a driver assistance system such as an anti-lock brake system, traction control device (traction control device), electronic vehicle stability program, automatic emergency braking device, torque vectoring system, or the like an automatic cruise control. The number of torque requests in the first calculation rule is not particularly limited and may include one, two, more, or any number.

If two or more torque requests are present within the first calculation rule, it is further preferred that these be prioritized within the first calculation rule. The at least one torque request is taken into account in the determination of the effective torque.

• – Eine Optimierung der Drehmomentdynamik: Die verschiedenen Stelleinheiten weisen im Allgemeinen eine unterschiedliche Dynamik in Bezug auf den Drehmomentaufbau auf. In der zweiten Berechnungsvorschrift wird die Stelleinheit bzw. Stelleinheit-Kombination ausgewählt, die eine schnellstmögliche Umsetzung der Drehmomentanforderung(en) ermöglicht.
• – Eine Optimierung der Stellgenauigkeit: Die verschiedenen Stelleinheiten weisen im Allgemeinen eine unterschiedliche Stellgenauigkeit auf. In der zweiten Berechnungsvorschrift wird die, Stelleinheit oder Stelleinheit-Kombination ausgewählt, die eine möglichst präzise Stellgenauigkeit in Bezug auf die Drehmomentanforderung(en) ermöglicht.
• – Eine Optimierung der Energieeffizienz: Die verschiedenen Stelleinheiten haben im Allgemeinen eine unterschiedliche Energieeffizienz. So können beispielsweise elektrische Antriebe oftmals Energie beim Bremsen als elektrische Energie zurückgewinnen, bei Reibungsbremsen wird kinetische Energie in thermische und damit für einen Kraftwagen nicht mehr nutzbare Energie umgewandelt. In der zweiten Berechnungsvorschrift wird die Stelleinheit oder Stelleinheit-Kombination ausgewählt, die die jeweils maximale Energieeffizienz ermöglicht.
• – Optimierung des Komforts: Verschiedene Stelleinheiten haben im Allgemeinen oftmals eine unterschiedliche Auswirkung auf den Fahrkomfort. Beispielsweise bauen verschiedene Stelleinheiten oftmals das Drehmoment unterschiedlich gleichmäßig („feinfühlig”) auf, verursachen ein unterschiedliches Maß an Geräusch und/oder Vibration im Fahrzeuginnenraum, und/oder erzeugen ein unterschiedliches Maß an Schwingungen im Antriebsstrang. In der zweiten Berechnungsvorschrift wird die Stelleinheit oder Stelleinheit-Kombination ausgewählt, die jeweils den maximalen Komfort ermöglicht.
• – Minimierung von Belastung und/oder Verschleiß von zumindest einer Stelleinheit: Die verschiedenen Stelleinheiten können durch das Aufbringen eines Drehmoments im Allgemeinen unterschiedlich stark belastet oder sogar beschädigt werden. Beispiele hierfür sind eine überhitzte Reibungsbremse, eine überhitzter Elektromotor, eine Über- oder Unterspannung bei einer Batterie, eine zu hohe Batterietemperatur. In der zweiten Berechnungsvorschrift wird die Stelleinheit oder Stelleinheit-Kombination ausgewählt, die unter dem Gesichtspunkt der Minimierung von Belastung oder Verschleiß optimal ist.
• – Berücksichtigung einer Beschränkung einer Stellgröße von zumindest einer Stelleinheit: Stelleinheiten weisen im Allgemeinen Stellgrößenbeschränkungen auf. So können beispielsweise Reibungsbremsen keine Antriebskräfte auf Räder übertragen und weist ein Elektromotor lediglich ein für ihn spezifisches maximales Drehmoment auf. In der zweiten Berechnungsvorschrift wird die Stelleinheit oder Stelleinheit-Kombination ausgewählt, die es bei Einhaltung der gegebenen Stellgrößenbeschränkungen erlaubt, das angeforderte Drehmoment zur Verfügung zu stellen.
• – Berücksichtigung von einem Fehler bei zumindest einer Stelleinheit: Sofern eine Stelleinheit ausfällt oder nur eingeschränkt funktionsfähig ist, kann für eine Stelleinheit ein Stellbereich entweder überhaupt nicht mehr gegeben oder der mögliche Stellbereich deutlich reduziert sein. In der zweiten Berechnungsvorschrift wird die Stelleinheit oder Stelleinheit-Kombination ausgewählt, die es bei Einhaltung des eingeschränkten oder bei zumindest einer Stelleinheit nicht mehr gegebenen Stellgrößenbereichs erlaubt, das angeforderte Drehmoment zur Verfügung zu stellen.

Furthermore, it is preferable for the second calculation rule to distribute the partial torque values for the at least two actuating units taking into account at least one target specification. Examples of such targets can be:

• - Optimization of torque dynamics: The various actuators generally have different dynamics in terms of torque build-up. In the second calculation rule, the setting unit or actuator combination is selected, which enables the fastest possible implementation of the torque request (s).
• - An optimization of the positioning accuracy: The various actuators generally have a different positioning accuracy. In the second calculation rule, the actuator or actuator combination is selected, which allows the most accurate possible positioning accuracy with respect to the torque request (s).
• - Optimization of energy efficiency: The various actuators generally have different energy efficiency. For example, electric drives can often recover energy when braking as electrical energy, with friction brakes is kinetic energy in thermal and thus no longer usable for a car energy transformed. In the second calculation rule, the actuator or actuator combination is selected, which allows the maximum energy efficiency.
• - Optimization of comfort: Different actuators often have a different impact on ride comfort in general. For example, various actuators often build the torque to different degrees ("sensitive"), cause a different level of noise and / or vibration in the vehicle interior, and / or create a different level of driveline vibration. In the second calculation rule, the actuator or actuator combination is selected, each allowing maximum comfort.
• Minimizing stress and / or wear of at least one actuator: The various actuators can generally be subject to different levels of load or even damage by the application of torque. Examples include an overheated friction brake, a superheated electric motor, over or under voltage in a battery, too high a battery temperature. In the second calculation rule, the actuator or actuator combination is selected which is optimal from the viewpoint of minimizing stress or wear.
• - Consideration of a limitation of a manipulated variable of at least one setting unit: actuating units generally have manipulated variable restrictions. For example, friction brakes can not transfer driving forces to wheels and an electric motor has only a maximum torque specific to it. In the second calculation rule, the actuator or actuator combination is selected, which allows the requested torque to be provided while maintaining the given manipulated variable restrictions.
• - Consideration of a fault in at least one actuator: If a control unit fails or is only partially functional, a control range can either no longer be given for a control unit or the possible control range can be significantly reduced. In the second calculation rule, the setting unit or setting unit combination is selected, which allows the requested torque to be made available when the restricted or at least one setting unit is no longer given control variable range.

Of course, it is provided according to the invention that a distribution of the partial torques for the at least two actuating units can take place in consideration of any combination of two or more of the above-mentioned targets by the second calculation rule. In this case, the second calculation rule can also be used to prioritize the corresponding target specifications. The second calculation rule can take into account all targets, just a selection from this or just a single target. The second calculation rule may attempt to achieve the best possible compromise between the targets, taking into account at least two targets.

The properties of actuators, such as torque dynamics, positioning accuracy, energy efficiency, comfort effects, levels of stress and wear, and manipulated variable constraints, can change dynamically over time. Therefore, it is preferred that operating and / or status parameter data are transmitted from at least one of the actuators to the second computation instruction and that these parameter data are taken into account by the second computation instruction in the distribution of the partial torque values for the at least two actuators. The transmission of such operating and / or status parameter data can be continuous and discontinuous, they can be transmitted to one, two, more or all actuators to the second calculation rule. The transmission may be effected by the actuator (s) themselves or by means of a suitable further device.

The second calculation rule may take into account the operating and / or conditional parameter data from one, two, several or all of the actuator units for determining the partial torque values. In this case, the second calculation rule can also be used to prioritize the corresponding operating and / or status parameter data.

Advantageously, additional parameter data of the at least one torque request for the second calculation rule contained in the first calculation rule can also be output via the interface and these parameter data can be divided by the second calculation rule in the distribution of the partial torque values for the at least two actuators or in the selection of the suitable actuators. Configuration to be considered. For example, a request of the anti-lock brake system with respect to the torque may be associated with a high dynamic demand and a low comfort demand, while, for example, a torque request of the automatic cruise control is associated with a high comfort requirement.

The second calculation rule may be one, two, several or all of these requirements for the Consider determination of partial torque values. In this case, the second calculation rule can also be used to prioritize various requirements.

• – zumindest zwei Stelleinheiten, welche jeweils dazu ausgebildet sind, ein Teil-Drehmoment an dem Rad einzustellen;
• – eine Rechenvorrichtung, welche dazu ausgebildet ist, mittels einer ersten Berechnungsvorschrift einen effektiven Drehmomentwert festzulegen, den festgelegten effektiven Drehmomentwert über eine Schnittstelle auszugeben, und in Abhängigkeit von dem über die Schnittstelle ausgegebenen effektiven Drehmomentwert je einen Teil-Drehmomentwert für die zumindest zwei Stelleinheiten über eine zweite Berechnungsvorschrift dergestalt zu ermitteln, dass sich bei Einstellen der diesen Teil-Drehmomentwerten entsprechenden Teil-Drehmomente an dem Rad das effektive Drehmoment ergibt, das dem effektiven Drehmomentwert entspricht; und
• – eine Steuervorrichtung, welche dazu ausgebildet ist, die zumindest zwei Stelleinheiten dergestalt anzusteuern, dass diese die Teil-Drehmomente an dem Rad einstellen.

A device according to the invention is used for setting an effective torque on a wheel of a vehicle, the device comprising:

• - At least two actuators, which are each adapted to set a partial torque on the wheel;
• A computing device which is designed to determine an effective torque value by means of a first calculation rule, to output the defined effective torque value via an interface, and depending on the effective torque value output via the interface, one partial torque value for the at least two actuating units via one determining a second calculation rule such that when the partial torques corresponding to these partial torque values are set at the wheel, the effective torque corresponding to the effective torque value results; and
• - A control device which is adapted to control the at least two actuation units such that they adjust the partial torques on the wheel.

The at least two actuating units preferably comprise a friction brake and / or an internal combustion engine drive and / or an electric motor drive and / or an actuating unit of a torque vectoring device. With these adjusting units, a torque can be set very flexibly on the wheel, wherein in addition high torque values can be realized.

A vehicle according to the invention comprises a device according to the invention. The vehicle may in particular be a motor vehicle with preferably electric single-wheel drive.

The preferred embodiments and their advantages presented with reference to the method according to the invention apply correspondingly to the device according to the invention and to the vehicle according to the invention.

Reference to exemplary embodiments, the invention is explained in more detail below. Show it:

1 a schematic plan view of a motor vehicle with two different types of actuators;

2A a schematic representation for explaining a method for adjusting a torque on a wheel according to the prior art;

2 B a schematic representation for explaining a method for setting an effective torque to a wheel according to a first embodiment; and

2C a schematic representation for explaining a method for setting an effective torque to a wheel according to a second embodiment; and

3 a schematic representation for explaining a method for setting an effective torque on a wheel according to a third embodiment; and

4 a schematic representation of a coordination of different torque requirements by the first calculation rule.

In the figures, identical or functionally identical elements are provided with the same reference numerals.

1 shows a car 10 with four wheels R. Each of the wheels R is driven by an associated electric motor C2, which can adjust a torque on the wheel R. However, the torque at the wheel R is influenced not only by the electric motor C2 but also by a brake device C1. The brake device C1 and the electric motor C2 each form an actuating unit, by means of which an associated partial torque on the wheel R is adjustable, so that an effective torque results.

The brake devices C1 and electric motors C2 are controlled by a control device 12 controlled, which in turn with a computer 14 connected is. The computer 14 comprises a microprocessor in which a computer program (which, for example, on a data storage medium the computer 14 can be provided) is executable.

The control device 12 Here, a so-called überaktuiertes system ready because actuators in the form of the two actuators C1 and C2 provide redundant functionality. Over-actuated systems in principle offer the advantage of additional degrees of freedom in the distribution of the wheel torque to the individual actuators. These degrees of freedom can be used to optimize certain target variables (eg dynamics, comfort, wear, energy efficiency, etc.) or possible malfunctions of an actuator (eg due to actuator damage or manipulated variable limitations) by the other actuator (s) compensate.

The advantages of überaktuierter systems can be used according to the prior art only with restrictions. This is schematically in 2A shown. The in the calculator 14 running algorithm A is basically independent of the actuators C1 and C2. The algorithm A directly sets the torque M1 to be set via the brake device C1 on the wheel R. Should more actuators, z. As the electric motor C2, are included in the system, so a modification of the algorithm A is required.

How to get the 2 B On the other hand, it is now provided to separate the direct link or connection between algorithm A and braking device C1 and to introduce an intermediate level in the form of an algorithm B. The algorithm A calculates an effective torque value M0 and provides it via an interface S. The algorithm B, which is present in a computer program other than the algorithm A, accesses this interface S and receives the effective torque value M0 as an input value. The algorithm B then calculates partial torque values M1 and M2 for the brake device C1 and the electric motor C2, respectively. These partial torque values M1 and M2 are transmitted to the brake device C1 and the electric motor C2 via the control device, respectively 12 provided so that these actuators can each set corresponding partial torques M1 'and M2' on the wheel R. This results in an effective torque M0 'on the wheel R, which corresponds to the effective torque value M0. The algorithms A and B run in the embodiment on the same computer 14 which minimizes the signal propagation times and the integration effort.

How to get the 2C takes, it can be further provided that at least one of the actuators C1, C2 operation and / or state parameter data P1, P2 are transmitted to the second calculation rule B. These parameter data P1, P2 can be taken into account by the second calculation rule B in the distribution of the partial torque values M1, M2 for the at least two actuators C1, C2. The transmission of operating and / or state parameter data P1, P2,..., Pn can take place continuously and discontinuously; they can be performed by one, two, several or all actuators C1, C2,..., Cn for the second calculation instruction B be transmitted.

The second calculation rule B can take into account the operating and / or state parameter data P1, P2,... Pn of one, two, several or all actuators C1, C2,... Cn. In this case, the second calculation rule B can also be used to prioritize the corresponding operating and / or state parameter data P1, P2,... Pn.

In 2C not shown, additional parameter data of the at least one torque request contained in the first calculation rule A (for example torque demand of the anti-lock brake system with high dynamic request and low comfort request, torque request of the automatic cruise control with a high comfort request) can be output to the second calculation rule B and this parameter data be taken into account by the second calculation rule B in the distribution of the partial torque values M1, M2 for the at least two actuators C1, C2 or in the selection of the suitable actuator unit configuration.

By introducing the algorithm B, the algorithm A can be maintained unchanged even with changing actuator configuration. This is schematically in 3 shown. In addition to the actuators C1 and C2, a third actuator C3 is introduced, which may be, for example, an internal combustion engine. According to the state of the art, the algorithm A or the interface S would now have to be modified in order to take into account the new actuator configuration. However, the new method makes it possible to keep the algorithm A or the interface S unchanged and to change only the intermediate level in the form of the algorithm B so that a modified algorithm B2 is available. This in turn is designed such that it calculates individual partial torque values M1, M2 and M3 for the individual actuators C1, C2 and C3 on the basis of the effective torque value M0. The set of actuators can then apply the respective partial torques M1 ', M2' and M3 'to the wheel R, so that overall the effective torque M0' results.

By means of the algorithm B, an adapter functionality is provided between the actuators C1 to C3 on the one hand and the algorithm A on the other hand. This is particularly advantageous when the algorithm A and the hardware of the motor vehicle 10 supplied by different manufacturers.

The others with respect to the embodiment according to 2C Of course, the options described are also in the embodiment according to 3 possible.

4 schematically shows the coordination of the various torque requirements by the first calculation rule A. How 4 can be seen, various torque requirements due to an action of a driver (for example, pressing the accelerator pedal or the brake, change or setting a specific driving program) and / or Driver assistance systems originate. The first calculation rule A (algorithm) can coordinate (take into account) one, two, several or all of these torque requests according to predefinable criteria and if necessary prioritize between the different torque requests.

By means of the present invention, a method and a device are provided which in particular make it possible to represent a total wheel torque requested by any vehicle dynamics control system (or a superimposition of several vehicle dynamics control systems) through an optimum combination of at least two actuators, the sum of which and the at least two Actuators applied to the wheel torques as closely as possible from the vehicle dynamics control system (or a superposition of several vehicle dynamics control systems) requested total torque. The individual control units can be combined with each other in such a way that the degree of freedom (s) available through the redundant actuators can / can be used to fulfill one or more additional targets.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008027620 A1 [0005]
• DE 102005022223 A1 [0005]

Claims (12)

Method for setting an effective torque (M0 ') on a wheel (R) of a vehicle ( 10 ) having at least two actuators (C1, C2) each adapted to set a partial torque (M1 ', M2') on the wheel (R), comprising the steps of: a) setting an effective torque value (M0) by means of a first calculation rule (A); b) outputting the set effective torque value (M0) via an interface (S); c) depending on the output via the interface (S) effective torque value (M0) determining a respective partial torque value (M1, M2) for the at least two actuators (C1, C2) via a second calculation rule (B) such that when the partial torques (M1 ', M2') on the wheel (R) corresponding to the partial torque values (M1, M2) are given the effective torque (M0 ') corresponding to the effective torque value (M0); and d) adjusting the partial torques (M1 ', M2') on the wheel (R) by means of the at least two actuators (C1, C2). A method according to claim 1, characterized in that the first calculation rule (A) and the second calculation rule (B) are present in two different, self-executable programs. A method according to claim 1 or 2, characterized in that the first calculation rule (A) is independent and / or the second calculation rule (B) is dependent on parameters which characterize the at least two actuators (C1, C2). Method according to one of the preceding claims, characterized by the steps: e) modifying the set of the at least two actuators (C1, C2) by supplementing and / or activating and / or removing and / or deactivating at least one actuation unit (C3) designed to apply a partial torque (M3 ') to adjust the wheel (R); f) maintaining unchanged the first calculation rule (A); and g) adapting the second calculation rule (B2) such that by means of it, depending on the effective torque value (M0) output via the interface (S), one partial torque value (M1, M2, M3) for each actuating unit (C1, C2, C3) of the modified set of the at least two actuating units (C1, C2, C3) can be determined in such a way that the partial torques (M1 ', M2', M3 ') corresponding to the partial torque values (M1, M2, M3) are set. on the wheel (R) gives the effective torque (M0 '). Method according to one of the preceding claims, characterized in that within the first calculation rule (A), at least one torque request is included, wherein the torque request is based on An act by a driver; - data of an anti-lock braking system; Data of a traction control device; - data of an electronic vehicle stability program; - data of an automatic emergency braking device; - data of a torque vectoring system; or - Data of an automatic cruise control. A method according to claim 5, characterized in that different torque requests are prioritized within the first calculation rule (A). Method according to one of claims 1 to 6, characterized in that the second calculation rule (B) distributes the partial torque values (M1, M2) for the at least two actuators (C1, C2) taking into account at least one of the following objectives: - optimization of torque dynamics, - optimization of the positioning accuracy, - optimization of energy efficiency, - optimization of comfort, Minimizing stress and / or wear on at least one actuator, Consideration of a limitation of a manipulated variable of at least one actuating unit, and / or - Consideration of an error in at least one actuator. Method according to one of claims 1 to 7, characterized in that operating and / or state parameter data from at least one of the actuators (C1, C2) to the second calculation rule (B) are transmitted and these parameter data by the second calculation rule (B) the distribution of the partial torque values (M1, M2) for the at least two actuators (C1, C2) are taken into account. Method according to one of Claims 5 to 8, characterized in that parameter data of the at least one torque request contained in the first calculation rule (A) is output via the interface (S) to the second calculation rule (B) and these parameter data are provided by the second calculation rule (B) the distribution of the partial torque values (M1, M2) for the at least two actuators (C1, C2) are considered. Device for setting an effective torque (M0 ') on a wheel (R) of a vehicle ( 10 ), the device comprising: - at least two actuators (C1, C2) each adapted to set a partial torque (M1 ', M2') on the wheel (R); A computing device ( 14 ), which is designed to determine an effective torque value (M0) by means of a first calculation rule (A), to output the set effective torque value (M0) via an interface (S), and in dependence on the effective output via the interface (S) Torque value (M0) per a partial torque value (M1, M2) for the at least two actuators (C1, C2) via a second calculation rule (B) to determine such that when adjusting these partial torque values (M1, M2) corresponding Partial torques (M1 ', M2') on the wheel (R) gives the effective torque (M0 ') corresponding to the effective torque value (M0); and a control device ( 12 ), which is designed to control the at least two actuating units (C1, C2) in such a way that they adjust the partial torques (M1 ', M2') on the wheel (R). Apparatus according to claim 10, characterized in that the at least two actuating units comprise a friction brake (C1) and / or an internal combustion engine drive and / or an electric motor drive (C2) and / or an actuating unit of a torque vectoring device. Vehicle, in particular motor vehicle ( 10 ) with single-wheel drive, with a device according to claim 10 or 11.

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