DE102013012954A1 - Method for controlling the driving dynamics of commercial vehicles and vehicle dynamics control device and use of a lateral acceleration sensor - Google Patents

Abstract

The invention relates to a method for controlling the driving dynamics of commercial vehicles 10 with a transport structure 12 and a vehicle dynamics control device and a vehicle dynamics control device. By means of the vehicle dynamics control device, transverse acceleration values 52 acting on the commercial vehicle 10 are detected and / or predicted 54 and critical lateral acceleration values 48 are determined. Furthermore, in the event that the lateral acceleration values 52 correspond to the critical lateral acceleration values 48, the vehicle dynamics control device 56 intervenes in a braking device 20 and / or a drive of the commercial vehicle 10. In addition, a shifted center of gravity 32 and / or a direction 30 of a center of gravity shift of the transport structure and and / or the utility vehicle is determined 46 and determined with the center of gravity 32 and / or the direction 30 of the center of gravity shift of the critical lateral acceleration values or 48. Furthermore, the invention relates to the use of a lateral acceleration sensor 18 for determining a shifted center of gravity 32 and / or a direction 30 of a center of gravity shift of the transport structure 12 of a commercial vehicle 10.

Description

The invention relates to a method for controlling the driving dynamics, in particular for overturning prevention, of commercial vehicles according to the preamble of claim 1, a vehicle dynamics control device according to the preamble of claim 8 and the use of a lateral acceleration sensor of a vehicle dynamics control device.

There are known methods for controlling the driving dynamics of commercial vehicles and vehicle dynamics control devices with which the driving behavior of the vehicle is stabilized by regulating interventions on the drive and / or the brakes. For example, can be counteracted during cornering by deliberate braking or accelerating or driving individual wheels overturning of a vehicle. The vehicle dynamics control device comprises in this case the additional function of a tipping prevention, which is also called "roll-over prevention function" (ROP).

In this case, the lateral acceleration values acting on the commercial vehicle are monitored or detected during a driving dynamics control device while the commercial vehicle is being driven. Furthermore, according to certain vehicle dynamics control devices, probable future lateral acceleration values are also predicted from the detected lateral acceleration values, that is, predetermined. To monitor the lateral acceleration values are z. B. lateral acceleration sensors arranged on the vehicle frame of the commercial vehicle whose current measurement signals reflect the currently acting on the utility vehicle lateral acceleration value.

Depending on the detected or predicted lateral acceleration values, a braking device and / or a drive of the commercial vehicle are intervened as soon as these lateral acceleration values correspond to specific critical lateral acceleration values. Dependent intervention here means that the interventions take place according to the lateral acceleration value with a specific type, a specific duration and a specific value. The type of intervention is z. As the braking or driving one, several or all wheels of the commercial vehicle and the value of the intervention z. B. the intensity of a deceleration or the drive of, the or each of the wheels. The duration is determined z. B. from the period that is necessary due to the lateral acceleration to again achieve a lateral acceleration, which is not critical.

In order to determine the critical lateral acceleration values of the vehicle movement in such a way that dangerous situations when driving with a specific commercial vehicle are avoided or at least reduced, critical lateral acceleration values are permanently stored in known vehicle dynamics control devices in an electronic system of the vehicle dynamics control device, which previously consisted of vehicle-specific data such as vehicle data. B. a vehicle mass and a fixed vehicle center of gravity, were determined or predetermined.

In the case of commercial vehicles having a loadable transport structure, however, the loading of the center of gravity of the commercial vehicle, especially in improper loading, z. B. shifted in the transverse direction.

Such a shift in emphasis also occurs in commercial vehicles designed as truck mixers. In truck mixers, which are also called concrete mixers, the transport structure comprises a drum. The drum is filled with liquid concrete and has to turn after filling so that the concrete does not harden before it has been brought to its place of use. Due to the rotation of the drum and the viscosity of the still liquid concrete, the concrete is pulled in the direction of rotation by mixing blades of the drum. In a clockwise rotating drum, the concrete z. B. on the left side within the drum (eg, viewed from the rear of the truck mixer) entrained and thus shifted the center of gravity of the truck mixer at least in the transverse direction.

This shift in focus causes the undesirable phenomenon that occur in conventional vehicle dynamics control devices, the interventions or regulatory intervention in the brake device and / or the drive too late or too early.

In DE 11 2007 001 013 T this difficulty is recognized and disclosed, in the case of critical lateral acceleration values acting on the commercial vehicle, to stop the drum of a truck mixer, whereby the center of gravity shifts or shifts again to the middle of the vehicle. A constant stopping and restarting the fully filled drum, however, is a high load for the drive of the drum at startup and with prolonged stopping of the drum, the concrete can begin early to solidify.

Therefore, if the drum is not stopped while driving, a loaded truck mixer threatens z. B. easier to tilt to the left than to the right when the drum rotates clockwise. The result is that known vehicle dynamics control devices z. B. individual wheels in a left turn brakes, without actually threatening the risk of tipping over the commercial vehicle. In a right turn, however, the vehicle dynamics control devices does not engage in the braking device or the brakes, although a tipping over of the commercial vehicle is already imminent. By unnecessary intervention on the one hand affects the comfort of the driver and on the other hand increases the risk of tipping due to lack of intervention.

The invention is therefore the object of developing vehicle dynamics control devices such that they avoid tilting of the commercial vehicle or reduce the risk of tipping, even with lateral uneven loading of a commercial vehicle, without affecting the comfort of the driver.

This object is achieved by a method for controlling the vehicle dynamics, especially for overturning prevention, of commercial vehicles according to claim 1. The invention also solves the problem by a vehicle dynamics control device according to claim 8 and the use of a lateral acceleration sensor of a vehicle dynamics control device according to claim 15th

For this purpose, the invention comprises a method for regulating the vehicle dynamics as well as a vehicle dynamics control device of commercial vehicles with a transport structure and a vehicle dynamics control device. Commercial vehicles in the following include in particular lorries and semitrailer vehicles. By means of the vehicle dynamics control device, transverse acceleration values acting on the commercial vehicle during travel are detected and / or predicted. A detection of the lateral acceleration value takes place z. B. with electronics of the vehicle dynamics control device based on the commercial vehicle mounted sensors. The sensors are best part of the vehicle dynamics control device or sensors of other vehicle systems whose measured values are supplied to the vehicle dynamics control device.

Depending on the respective lateral acceleration value, the driving dynamics control device intervenes in the brake control and / or the drive of the utility vehicle if the lateral acceleration values correspond to certain critical lateral acceleration values. To intervene by the vehicle dynamics control device z. B. control signals sent to a braking device and / or the drive of the commercial vehicle.

Are z. B. acting on the vehicle lateral acceleration by forces acting in one direction with positive lateral acceleration values and lateral acceleration by forces acting in the opposite direction forces provided with negative lateral acceleration values, z. B. set positive and negative critical lateral acceleration values. The vehicle dynamics control device then intervenes in the brake control and / or the drive of the utility vehicle if the lateral acceleration values correspond to the positive or the negative critical lateral acceleration values.

The procedure, so z. As the output of control signals of the vehicle dynamics control device, in particular includes a type and intensities or values of the intervention. Different types of intervention are z. As the braking or accelerating one, several or all wheels or the simultaneous braking of one or more wheels and the acceleration of one or more of the non-braked wheels. The values or the intensities of the decelerations or the accelerations are z. B. set separately by the vehicle dynamics control device for each wheel.

The vehicle dynamics control device uses an existing brake device for the interventions, such. B. ABS brake valves, or other means already present the brakes or the drive of the commercial vehicle by these means of the vehicle dynamics control device in addition to their original control, z. B. by an anti-lock braking system (ABS), are controlled. However, it is also possible that the vehicle dynamics control device itself comprises such means.

According to the invention, a shifted center of gravity, in particular a center of gravity position, and / or a direction of a shift in the center of gravity of the transport structure and / or the commercial vehicle, at least in the transverse direction of the commercial vehicle, are determined by the vehicle dynamics control device. The center of gravity of a commercial vehicle changes when the commercial vehicle is loaded, in particular when it is loaded unevenly in the transverse direction. This shifted center of gravity after the loading from the original center of gravity before the loading or the direction of the center of gravity shift is therefore detected or determined or determined according to the invention.

According to the invention, the critical lateral acceleration values are or are determined or adjusted by the shifted center of gravity and / or the direction of the center of gravity shift. In contrast to conventional vehicle dynamics control devices, the critical lateral acceleration values are thus adjusted or determined as a function of the shifted center of gravity or the shifted center of gravity.

Are z. B. lateral acceleration through in a first direction, z. B. in the transverse direction of the vehicle to the left, acting forces with positive lateral acceleration values and lateral accelerations by in the opposite second direction, z. B. in the transverse direction of the vehicle to the right, acting forces provided with negative lateral acceleration values, z. For example, positive and negative critical lateral acceleration values are determined. In a center of gravity shift in the first direction, the positive and negative critical lateral acceleration values are lowered relative to the critical lateral acceleration values of an unloaded vehicle. By determining the positive and negative critical lateral acceleration values, two different thresholds for the lateral acceleration values, ie one for left-hand luffing the other for right-hand turns, are thus defined.

As a result, adapted to the shifted center of gravity intervention of the vehicle dynamics control device is ensured in the brake control and / or the drive of the commercial vehicle. The invention thus makes it possible to avoid tilting of the commercial vehicle or to reduce the risk of tipping even if the load of a commercial vehicle is uneven in the sides or to impair the comfort of the driver. Furthermore, this is necessary for truck mixers no stopping the drum.

According to a first embodiment, the commercial vehicle is a truck mixer, which is also called a concrete or cement mixer. The transport structure is formed in a truck mixer as a rotatable drum. According to the embodiment, the direction of rotation of the drum, z. B. with a sensor of the vehicle dynamics control device, determined by the vehicle dynamics control device. On the basis of this determined direction of rotation then the center of gravity shift is determined - at least in the transverse direction. Turns in rear view of the commercial vehicle z. B. the drum in a clockwise direction, so shifts the focus of the commercial vehicle and the vehicle frame and the drum to the left. Turns in rear view of the commercial vehicle z. B. the drum counterclockwise, so shifts the center of gravity of the truck and the chassis and the drum to the right. Thus, a simple and inexpensive determination of the direction of gravity shift is possible.

According to a further embodiment, the center of gravity and / or the direction of a shift in the center of gravity are determined by determining the inclination of the commercial vehicle and / or the vehicle frame of the commercial vehicle. As a result, a very precise center of gravity shift due to unevenly distributed cargo in the transverse and also in the longitudinal direction of the commercial vehicle can be determined.

According to a development, the inclination of the commercial vehicle and / or the vehicle frame of the commercial vehicle is determined with at least one sensor arranged on the commercial vehicle or on the vehicle frame. The use of a sensor is advantageous because it is inexpensive and can be mounted in a low-wear housing at any position to determine or measure the inclination.

According to a further embodiment, the sensor for determining the inclination is a transverse acceleration sensor, in particular a transverse acceleration sensor arranged on the vehicle frame. The inclination of the commercial vehicle and / or the vehicle frame of the commercial vehicle is determined with the lateral acceleration sensor at standstill of the vehicle. For this purpose, according to various embodiments, one or more lateral acceleration sensors are used, which in any case are present in a vehicle dynamics control device for determining the lateral acceleration values acting on the utility vehicle.

However, as is known, these lateral acceleration sensors are only needed in determining the lateral acceleration values acting on the utility vehicle when the vehicle is in motion, e.g. B. to detect forces acting on the vehicle when cornering. At standstill, it is therefore possible to use these lateral acceleration sensors to measure the gravitational acceleration.

Transverse acceleration sensors only detect horizontal forces acting on the sensors. If the vehicle is unloaded or evenly loaded, then the lateral acceleration sensors do not detect any forces acting on them on a level surface at a standstill. However, if the vehicle or the commercial vehicle is loaded unevenly, then the vehicle frame and thus the lateral acceleration sensors incline, the lateral acceleration sensors then measuring a proportion of the gravitational acceleration. Provided that the direction of installation of a lateral acceleration sensor is known, it is thus possible to deduce the value of the gravitational acceleration and thus the inclination of the commercial vehicle on the basis of the transverse acceleration value.

It is possible, when the vehicle is at a standstill, to determine the inclination of the vehicle or to determine the inclination from these values on the basis of the change in the values of the lateral acceleration sensor (s) during loading.

Advantageously, it is thus prevented that an inclination of the road or a permanent deviation (offset) of the lateral acceleration sensor value (s), which arises due to incorrect installation of the lateral acceleration sensor (s), are generated Determination or determination of the inclination and thus of the center of gravity falsified.

According to a further embodiment, the standstill of the commercial vehicle is determined by determining the wheel rotational speed of one, several or all wheels of the commercial vehicle. Advantageously, it is thus ensured that the vehicle does not move safely and z. B. no centrifugal forces acting on the or the lateral acceleration sensors, as long as the inclination is determined.

According to a further embodiment, the utility vehicle is a truck mixer and the transport structure is a rotatable drum. With the vehicle dynamics control device, the accelerator pedal position and the engine speed and / or the engine torque are monitored. For this purpose, for. B. already existing sensors used. According to the embodiment, the inclination of the commercial vehicle and / or the vehicle frame of the commercial vehicle is determined while the engine speed and / or the engine torque are increased and the accelerator pedal position remains in the rest position. While these conditions are met, the truck mixer is loaded. Namely, in truck mixers, the engine speed and / or the engine torque are automatically increased during loading so that the preselected rotational speed can be maintained during load increase by the load. This increase in engine speed and / or engine torque is automatic without the driver pressing the accelerator or accelerator pedal.

This ensures that the inclination of the commercial vehicle resulting from the loading can be measured substantially exactly. If the utility vehicle is standing approximately on a sloping ground, it is advantageous if the vehicle dynamics control device can determine the start and end time of the load in order to be able to determine the values of the lateral acceleration sensor (s) before and after loading in order to deduce the inclination therefrom. Start time of the loading or loading is therefore the beginning of the increase of the engine speed and / or the engine torque without pedal operation and the end time of loading or charging is reached when the engine speed and / or the engine torque, in particular for a predetermined time, constant stay.

Furthermore, the invention relates to a use of a lateral acceleration sensor of a vehicle dynamics control device of a commercial vehicle with a transport structure. The lateral acceleration sensor is used to determine the inclination of the commercial vehicle and / or the vehicle frame of the commercial vehicle by measuring or determining the lateral acceleration value of the vehicle with the transverse acceleration sensor when the commercial vehicle is at a standstill. Since no actual lateral acceleration acts on the vehicle during standstill, by measuring the lateral acceleration value of the lateral acceleration sensor, ie the lateral acceleration sensor value, the gravitational acceleration acting on the lateral acceleration sensor is measured, which represents a measure of the inclination of the vehicle and thus of the center of gravity of the vehicle.

Further embodiments of the invention will become apparent from the dependent claims and from the exemplary embodiments explained in more detail with reference to the drawings. In the drawings show:

1 a schematic representation of a commercial vehicle with a transport structure,

2 a schematic representation of the rear view of the commercial vehicle 1 .

3 a cornering of a commercial vehicle,

4 a schematic representation of another commercial vehicle with a transport structure,

5 a schematic representation of the rear view of the commercial vehicle 4 and

6 an embodiment of the process of the method according to the invention.

1 shows a commercial vehicle 10 , which is designed here as a truck. The commercial vehicle 10 has a transport structure 12 which corresponds here to a loading area with a tarpaulin or a box body. The transport structure 12 is on the vehicle frame 16 of the commercial vehicle 10 arranged. Furthermore, the utility vehicle 10 in the front area an electronics 14 a vehicle dynamics control device. The Electronic 14 has in particular a controller and a memory. The vehicle dynamics control device further comprises at least one on the vehicle frame 16 attached lateral acceleration sensor 18 ,

Furthermore, the utility vehicle 10 an unillustrated anti-lock braking system (ABS) with ABS valves 20 on, each one of the wheels 22 of the commercial vehicle 10 assigned. The ABS valves 20 are designed to be independent of a brake pedal position brake pressure to the brakes of each wheel 22 to be regulated separately. The Electronic 14 the vehicle dynamics control device is designed to act on the ABS valves 20 and thus on the brake of the commercial vehicle 10 act. The Electronic 14 the vehicle dynamics control device can therefore the brakes of each wheel 22 of commercial vehicle 10 activate or release separately with a certain intensity and duration. According to other embodiments, the electronics 14 the vehicle dynamics control device with a brake system of the vehicle 10 directly connected and can be via an intervention in the brake system directly the brakes of the wheels 22 of the commercial vehicle 10 activate.

The lateral acceleration sensor 18 measures the lateral acceleration of the commercial vehicle 10 , ie z. B. on the commercial vehicle 10 acting centrifugal forces when cornering the commercial vehicle 10 , This detects the lateral acceleration sensor 18 the lateral acceleration value of the vehicle movement. The Electronic 14 the vehicle dynamics control device is further configured such that from the with the lateral acceleration sensor 18 detected or determined lateral acceleration values also predict or predetermine future lateral acceleration values of the vehicle movement.

Furthermore, the vehicle dynamics control device is designed to be responsive to the brake control, z. B. by means of the ABS brake valves 20 of the commercial vehicle 10 to act when the determined or predetermined lateral acceleration values are equal to certain critical lateral acceleration values. The critical lateral acceleration values are likewise determined by means of the vehicle dynamics control device. For this purpose, the vehicle dynamics control device is designed such that the direction of a shift in the center of gravity by loading the commercial vehicle 10 opposite the center of gravity of the unloaded commercial vehicle 10 , at least in the transverse direction of the commercial vehicle 10 , to investigate.

A shift in emphasis occurs z. B. by incorrect loading of the commercial vehicle 10 , 2 shows the commercial vehicle 10 out 1 from the rear view or rear view, wherein the commercial vehicle 10 here is loaded wrong. The charge 24 is so on the transport construction 12 or the loading area distributes that a larger mass on the left side than on the right side of the transport structure 12 and thus the vehicle frame 16 acts. The vehicle frame 16 therefore lies with a slope 26 towards a normal position. Under the tilt 26 of the vehicle frame 16 In this case, an angle is understood to be the one plane of the vehicle frame 16 deviates from the plane of the normal position. Due to the wrong loading, the center of gravity shifts 28 of the unloaded vehicle 10 in the direction 30 until the shifted center of gravity 32 ,

According to one embodiment of the invention, this shifted center of gravity 32 with the lateral acceleration sensor 18 detected, measured or determined during the standstill of the commercial vehicle. For this purpose, first the inclination 26 or the angle of inclination 26 of the commercial vehicle '10 with the lateral acceleration sensor 18 during the standstill of the commercial vehicle 10 determined, measured or determined. This determination is possible because during centrifugation no centrifugal forces on the lateral acceleration sensor 18 Act. Tilts the vehicle frame 16 with the lateral acceleration sensor arranged thereon 18 , this is namely a proportion of gravitational acceleration was. Since the lateral acceleration sensor 18 is configured such, from left or right to the commercial vehicle 10 To distinguish acting forces is therefore also the inclination direction with the lateral acceleration sensor 18 detectable. The lateral acceleration sensor 18 thus detects the inclination 26 of the commercial vehicle 10 ,

Because the inclination 26 of the vehicle frame 16 during the standstill of the commercial vehicle 10 in relation to the shifted center of gravity 32 is, is from the with the lateral acceleration sensor 18 determined inclination 26 in electronics 14 the vehicle dynamics control device, taking into account this relation, the shifted center of gravity 32 determined. The relation is z. B. in the form of a mathematical function in the memory of the electronics 14 stored.

Drives the commercial vehicle 10 now in a curve 34 , as in 3 illustrated, the lateral acceleration sensor detected 18 a centrifugal force acting on the commercial vehicle 36 , The vehicle dynamics control device now takes into account the shifted center of gravity when engaging in the brake control or the braking device and / or the drive 32 by determining critical lateral acceleration values on the basis of the determined center of gravity displacement. The critical lateral acceleration values are set so that in case of inclination of the commercial vehicle 10 , as in 2 represented, z. B. when going through the curve 34 , as in 3 shown, an intervention in the brake control or the braking device already earlier, so even at lower amounts of the lateral acceleration values, than when passing through a uniform curve in the opposite direction. An overturning of the commercial vehicle due to the shifted center of gravity 32 By loading is thus prevented.

4 shows a commercial vehicle 10 , which is designed as a truck mixer. The transport structure 12 corresponds to a drum or mixing drum. In addition, the truck mixer has a vehicle frame 16 , an electronics 14 a vehicle dynamics control device and a lateral acceleration sensor 18 on. The truck mixer also has a braking device, namely ABS valves 20 , on.

5 shows the truck mixer 4 from the rear or rear view of the truck mixer, wherein the drum is shown as a section. The drum has mixing blades 38 on, the, at, clockwise 40 rotating drum, the concrete in the drum 42 carried away. Through the entrained concrete is the shifted center of gravity 32 of the truck mixer at one opposite the center of gravity 28 an unloaded truck mixer in the direction 30 shifted position.

6 shows an embodiment of the process of the method according to the invention. First, the inclination 26 with the lateral acceleration sensor 18 during the standstill of the commercial vehicle 10 determined 44 , With the determined inclination 26 becomes the shifted center of gravity 32 determined by the vehicle dynamics control device 46 , Thereafter, with the vehicle dynamics control device taking into account the shifted center of gravity 32 one or more critical lateral acceleration values 48 certainly 50 , While driving the commercial vehicle 10 become the lateral acceleration values 52 the transverse acceleration acting on the commercial vehicle is determined by a lateral acceleration sensor 54 , In the case that the lateral acceleration values 52 the critical lateral acceleration values 48 same, is from the vehicle dynamics control device in the braking device and / or the drive of the commercial vehicle 10 intervened by the vehicle dynamics control device 56 ,

LIST OF REFERENCE NUMBERS

10

commercial vehicle

12

transport structure

14

Electronics of the vehicle dynamics control device

16

vehicle frame

18

Lateral acceleration sensor

20

ABS-valves / braking device

22

wheel

24

charge

26

Tilt

28

Center of gravity of the unloaded vehicle

30

Direction of focus shift

32

shifted focus

34

Curve

36

centrifugal

38

mixing paddle

40

direction of rotation

42

Concrete / charge

44

Determining the inclination

46

Determine the shifted center of gravity

48

critical lateral acceleration values

50

Determining the critical lateral acceleration values

52

Lateral acceleration values

54

Determining the lateral acceleration values

56

Intervention on the brake device and / or the drive

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 112007001013 T [0009]

Claims (15)

Method for controlling vehicle dynamics, in particular for preventing overturning, of commercial vehicles ( 10 ) with a transport structure ( 12 ) and a driving dynamics control device, wherein by means of the vehicle dynamics control device on the commercial vehicle ( 10 ) acting lateral acceleration values ( 52 ) ( 54 ) and / or predicts ( 54 ) and critical lateral acceleration values ( 48 ) certainly ( 50 ), in which case the lateral acceleration values ( 52 ) the critical lateral acceleration value or values ( 48 ), by means of the vehicle dynamics control device in a braking device ( 20 ) and / or a drive of the commercial vehicle ( 10 ) intervened ( 56 ), characterized in that a center of gravity displaced by loading ( 32 ) and / or one direction ( 30 ) a shift in emphasis of the transport structure ( 12 ) and / or the commercial vehicle ( 10 ) ( 46 ) and the critical lateral acceleration value or values ( 48 ) with the shifted center of gravity ( 32 ) and / or the direction ( 30 ) of the shift of emphasis ( 50 ) become. Method according to Claim 1, characterized in that the commercial vehicle ( 10 ) a truck mixer and the transport structure ( 12 ) is a rotatable drum and one direction ( 30 ) of a center of gravity displacement is determined by determining the direction of rotation of the drum. Method according to claim 1, characterized in that a shifted center of gravity ( 32 ) and / or one direction ( 30 ) of a shift in emphasis by determining ( 44 ) of inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) ( 46 ) becomes. Method according to claim 3, characterized in that the inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) with at least one on the commercial vehicle ( 10 ) or on the vehicle frame ( 16 ) sensor is determined ( 44 ) becomes. A method according to claim 4, characterized in that the sensor is a lateral acceleration sensor ( 18 ) and the inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) with the lateral acceleration sensor ( 18 ) at standstill of the commercial vehicle ( 10 ) ( 44 ) becomes. A method according to claim 5, characterized in that the standstill of the commercial vehicle ( 10 ) by determining the wheel speed of one, several or all wheels ( 22 ) of the commercial vehicle ( 10 ) is determined. Method according to claim 5 or 6, characterized in that the commercial vehicle ( 10 ) a truck mixer and the transport structure ( 12 ) is a rotatable drum, the accelerator pedal position and the engine speed and / or the engine torque are monitored and the inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle is determined while the engine speed and / or the engine torque is increased and the accelerator pedal position remains in the rest position. Vehicle dynamics control device, in particular for tipping prevention, for commercial vehicles ( 10 ) with a transport structure ( 12 ), wherein the vehicle dynamics control device is designed in such a way to act on the commercial vehicle ( 10 ) acting lateral acceleration values ( 52 ) to detect and / or predict one or more critical lateral acceleration values ( 48 ) and in case the lateral acceleration values ( 52 ) the critical lateral acceleration values ( 48 ), in a braking device ( 20 ) and / or a drive of the commercial vehicle ( 10 ), characterized in that the driving dynamics control device is designed such that a center of gravity shifted by loading ( 32 ) and / or one direction ( 30 ) a shift in emphasis of the transport structure ( 12 ) and / or the commercial vehicle ( 10 ) and the critical lateral acceleration value (s) ( 48 ) with the shifted center of gravity ( 32 ) and / or the direction ( 30 ) of the shift in emphasis. Vehicle dynamics control device according to claim 8, characterized in that the commercial vehicle ( 10 ) a truck mixer and the transport structure ( 12 ) is a rotatable drum and the vehicle dynamics control device is designed to the direction ( 30 ) to determine a center of gravity shift by determining the direction of rotation of the drum. Vehicle dynamics control device according to claim 8, characterized in that the driving dynamics control device is designed such that a shifted center of gravity ( 32 ) and / or one direction ( 30 ) of a shift in emphasis by determining the slope ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) to investigate. Vehicle dynamics control device according to claim 10, characterized in that the vehicle dynamics control device at least one on the commercial vehicle ( 10 ) or on the vehicle frame ( 16 ) arranged sensor to the inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) to investigate. Vehicle dynamics control device according to claim 11, characterized in that the sensor is a lateral acceleration sensor ( 18 ) and the driving dynamics control device is designed in such a way as to reduce the inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) with the lateral acceleration sensor ( 18 ) at standstill of the commercial vehicle ( 10 ) to investigate. Vehicle dynamics control device according to claim 12, characterized in that the vehicle dynamics control device is designed in such a way to stop the commercial vehicle ( 10 ) by determining the wheel speed of one, several or all wheels ( 22 ) of the commercial vehicle ( 10 ) to investigate. Vehicle dynamics control device according to claim 12 or 13, characterized in that the commercial vehicle ( 10 ) a truck mixer and the transport structure ( 12 ) is a rotatable drum, the driving dynamics control means is adapted to monitor the accelerator pedal position and / or the engine speed and / or the engine torque and the inclination ( 26 ) of the commercial vehicle ( 10 ) and / or the vehicle frame ( 16 ) of the commercial vehicle ( 10 ) while the engine speed and / or engine torque is increased and the accelerator pedal position remains at rest. Using a lateral acceleration sensor ( 18 ) a vehicle dynamics control device of commercial vehicles ( 10 ) with a transport structure ( 12 ) for investigation ( 46 ) of a shifted center of gravity ( 32 ) and / or one direction ( 30 ) a shift in emphasis of the transport structure ( 12 ) and / or the commercial vehicle ( 10 ), with the transverse acceleration sensor ( 18 ) at standstill of the commercial vehicle ( 10 ) Lateral acceleration values or lateral acceleration sensor values are determined.

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