DE102016211489A1 - Regeneration of gasoline particulate filters in autonomously controllable vehicles - Google Patents

Abstract

In a motor vehicle (1) with a self-steering mode (10) for autonomously controlling a driving operation and with a gasoline particle filter (17) arranged in the exhaust tract (16) of a gasoline engine (2) of the motor vehicle (1), a method (20) for protecting the gasoline particle filter ( 17) from overheating and premature aging, starting (18) the self-steering mode, starting (19) a regeneration process of the gasoline particulate filter (17) with burning the soot particles attached to the gasoline particulate filter (17), and monitoring (21) a temperature of the gasoline particulate filter (17 ) and / or the exhaust gas passed through the gasoline particle filter (17) during the regeneration process. Depending on a monitoring result of the monitoring, a control specification for the self-steering mode (10) of the motor vehicle (1) can be adapted.

Description

The invention relates to a method and a control device for the regeneration of a gasoline particle filter in a vehicle with autonomous driving operation.

With the increasing tightening of emission standards in the automotive sector, for example, with the future Euro6.2 standard regulates both the mass and the number of particles in the exhaust gas of a gasoline engine. By using gasoline particle filters in the exhaust after-treatment of gasoline motor vehicles, the particulate matter contained in the exhaust gas, particularly soot and minute particulates such as particulate matter, can be filtered out of the exhaust gas and stored by depositing it on the surface or inside the gasoline particulate filter.

The stored in the gasoline particle filter solids can increase the flow resistance of the filter and thus its exhaust back pressure, which deteriorates the engine performance and fuel consumption of the motor vehicle.

In order to bring the filter efficiency and the exhaust gas back pressure to a suitable value, the gasoline particle filter must be regenerated as soon as a certain particle mass is stored. The regeneration of the filter takes place by combustion of the stored particles. For this purpose, a suitable starting temperature is needed, which is typically about 600 ° C, and an excess of oxygen in the gasoline particulate filter supplied exhaust.

Because of the high temperatures typically prevailing in the exhaust gas tract of gasoline engines, it is possible for a regeneration of a gasoline particle filter to occur spontaneously while driving. For example, the regeneration at temperatures in the exhaust tract above 600 ° C due to a release of the accelerator pedal of the driver use, since in this case a supply of fuel to the engine short term omitted, so that there may be an excess of oxygen in the exhaust gas, which favors the soot combustion in the gasoline particle filter.

With a particle-laden gasoline particulate filter, there is a risk that either spontaneous or active regeneration of the gasoline particulate filter will generate so much exothermic heat that the gasoline particulate filter will overheat, speeding it up or even causing it to deteriorate. A damaged gasoline particle filter can cause consequential damage to other components, especially in the engine and exhaust tracts. Furthermore, such occurrences are stored in the on-board diagnosis. The presence of such fault memory entries can be signaled to the driver and / or detected in the workshop and depending on the specification of the relevant emission standard require a repair or replacement of the gasoline particulate filter, even if the gasoline particulate filter should still be fully functional.

Controlling and acting on the processes in the gasoline particle filter are therefore of great technical and economic necessity.

The invention is based on the object to better protect a gasoline particulate filter in a motor vehicle and to extend its life.

This object is achieved by a method, a control device and a motor vehicle having the features of the independent patent claims. Further developments can be found in the dependent claims.

• – Starten des Selbststeuerungsmodus,
• – Starten eines Regenerierungsprozesses des Benzinpartikelfilters mit Verbrennen der an dem Benzinpartikelfilter angelagerten Rußpartikel,
• – Überwachen einer Temperatur des Benzinpartikelfilters und/oder des durch den Benzinpartikelfilter geleiteten Abgases während des Regenerierungsprozesses, und
• – in Abhängigkeit von einem Überwachungsergebnis des Überwachens, Anpassen einer Steuerungsvorgabe für den Selbststeuerungsmodus des Kraftfahrzeugs.

A method for protecting a gasoline particulate filter from overheating and premature aging, wherein the gasoline particulate filter is disposed in the exhaust tract of a gasoline engine of a motor vehicle, and wherein the motor vehicle has a self-control mode for autonomously controlling a driving operation of the motor vehicle in which the motor vehicle without the need for monitoring driving a driver and of the driver's driving instructions, points out:

• - start the self-control mode,
• Starting a regeneration process of the gasoline particle filter with burning of the soot particles deposited on the gasoline particle filter,
• Monitoring a temperature of the gasoline particulate filter and / or the exhaust gas passed through the gasoline particulate filter during the regeneration process, and
• In response to a monitoring result of the monitoring, adjusting a control target for the self-control mode of the motor vehicle.

The self-steering mode of the motor vehicle corresponds at least to Level 3 of the six-stage classification of autonomous motor vehicles, as is common in the EU and the USA.

In the automotive gasoline engine and gasoline particulate filter method of protecting the gasoline particulate filter from thermal overheating, the self-control mode and the regeneration process can be started. For example, it is possible initially to wait for the self-control mode to start, for example by the driver, in order then to start the regeneration process in the self-control mode and, for example, by the abovementioned To monitor temperature measurements. However, it does not depend on a particular sequence of steps. Thus, even after the regeneration process has started with the vehicle entering the self-steering mode, the process of protecting the gasoline particulate filter from thermal overheating may be started.

The starting of the regeneration process may be as often as necessary e.g. be prepared by choosing an optimal speed and a matching gear of the transmission and triggered by a brief interruption of the gasoline supply, which can lead to an excess of oxygen in the exhaust tract at high temperature and thus to trigger the soot combustion. This soot combustion may then be monitored according to the method, for example, by monitoring the temperature of the gasoline particulate filter or the exhaust gas flowing out of it.

On the basis of the monitoring results, for example, when predetermined threshold values for the temperature of the gasoline particle filter or the exhaust gas emerging from it, the control specification for the self-control mode can be adjusted.

In particular, when detecting incipient or increased particulate combustion in the gasoline particulate filter, adjustment of the control target may be aimed at lowering the oxygen concentration of the exhaust gas entering the gasoline particulate filter to reduce or interrupt the exothermic reaction resulting from soot combustion , This can be achieved, for example, in that the gasoline engine is supplied with a substantially stoichiometric fuel-air mixture that causes the most complete possible combustion of the oxygen in the gasoline engine.

Alternatively or additionally, the adaptation of the control specification may aim to generate a sufficient exhaust gas volume flow through which sufficient cooling of the gasoline particle filter can be achieved during the regeneration. However, this is only partially effective because of the high temperatures of the exhaust gas, namely, when the gasoline particulate filter temperature during regeneration is above the exhaust gas temperature.

When adapting the control specification, the initial control values that are present or determined in the self-control mode can be used as a starting point.

On the one hand, the present control specifications can specify general conditions that must be taken into account. Thus, a speed specification and / or a route specification may be predetermined as framework conditions which should not be modified by the method, since they are determined for example by the driver, by a traffic control system and / or by the traffic situation. On the other hand, however, the present control specifications may also have degrees of freedom. For example, a route to be traveled at the driver's option may be predetermined, while e.g. a speed specification, a concrete choice of a gear of the vehicle transmission, concrete acceleration and braking specifications or their temporal change to achieve certain target speeds or spatial positions can be freely selected. For example, based on a present driving situation, there are several possibilities, e.g. to reach the green phase of a 50 m in advance arranged traffic light.

Such control specifications can be stored with their framework conditions and degrees of freedom in any desired or arbitrarily formatted driving profile. The driving profile can serve as the basis of self-control and can be adapted dynamically to the situation in and around the motor vehicle again and again.

The adaptation of the control specification depending on the monitoring result, e.g. from the regeneration temperature, can be made within the degrees of freedom. It may be aimed, for example, at maintaining a certain exhaust gas volume flow for cooling the gasoline particle filter or at not exceeding a certain oxygen concentration in the exhaust gas conducted to the gasoline particle filter or at the most complete exhaustion of the gasoline engine.

In this way, an existing combustion reaction can be controlled and an already uncontrolled combustion reaction can be reduced or terminated. Thus, overheating can be avoided, which could lead to premature aging of the gasoline particulate filter. The gasoline particle filter is protected and extends its service life.

In one embodiment, adjusting the control target may change at least one default, wherein the default is from a group comprising a gear to be used in a manual transmission of the motor vehicle, a speed to be reached by the motor vehicle, and / or Deceleration profile, an acceleration or braking gradient to be achieved by the motor vehicle, a maximum interruption period of a fuel supply to the Gasoline engine and a cutoff frequency of the fuel supply.

Concerns the adjustment of the control target, a choice or change of the gear, with which a speed of the motor shaft is translated into a speed of the transmission or axle shaft, there is freedom between a combination with a higher engine speed and a lower drive torque or a lower engine speed and a higher drive torque to achieve a given drive power of the wheels. In particular, the engine speed influences the exhaust gas volume flow and the exhaust gas temperature. These can be chosen so that, for example by means of the high exhaust gas temperature, a necessary regeneration process can be started, while in an existing regeneration process, the temperature of the gasoline particulate filter can be cooled by the exhaust gas.

Specifically, therefore, in the self-steering mode when selecting the gear to a required speed or torque input a higher engine speed can be selected with lower torque, or vice versa a lower engine speed at higher torque, depending on whether the regeneration process to initiate, continue or curb. This allows the combustion reaction to be controlled as part of the gasoline particle filter regeneration. Accordingly, the gasoline particulate filter is protected, accelerated aging processes do not occur or are avoided, and life of the gasoline particulate filter is prolonged.

If there is a requirement of the driving profile to be complied with only in a given route, or if only a corridor to be maintained is specified for the speed, a specific speed to be specified can be determined by the self-control mode or such a control specification can be adapted in the process of protecting the gasoline particle filter from thermal overheating become. As a result, the power specification is influenced to the engine and thus also the exhaust gas flow rate and the exhaust gas temperature. As a result, as described above, the gasoline particle filter regeneration can be controlled.

In addition, it is possible to insert short phases of the acceleration in the driving profile in order to interrupt longer periods of time with reduced fuel supply to the engine. In these periods, an increased oxygen content could be provided due to the low power requirement and consequent fuel cut. The short acceleration phases can keep the regeneration process under control.

Furthermore, as far as there is a certain freedom of choice with respect to the speed, the predetermined acceleration or deceleration profile with regard to the protection of the gasoline particle filter from thermal overheating can also be adapted. In particular, deceleration phases with a long-lasting low power requirement and consequent fuel cut can be avoided in which too high an oxygen concentration in the exhaust gas could be present. As a result, the combustion process of the exhaust gas regeneration can be further controlled.

If the adaptation of the control specification relates to an acceleration and / or braking gradient to be achieved by the motor vehicle, then this can be selected in the presence of a high, in particular critical temperature on the gasoline particle filter or on the exhaust gas passed through the gasoline particle filter, for example, such that one with the braking process accompanying interruption of the fuel supply, which can lead to a high concentration of oxygen in the exhaust, exists only for a short period of time. Subsequently, for example, with short acceleration, the engine can again be operated with a stoichiometric mixture, as a result of which the combustion reaction is contained.

In addition, adjusting the control target may change and, in particular, reduce a predetermined maximum fuel cutoff period to the gasoline engine to ensure that fuel cutoff times when increased oxygen concentration in the exhaust gas could enhance regeneration combustion are kept as short as possible.

Furthermore, a maximum frequency can be specified with which the fuel supply to the gasoline engine may be interrupted. This also makes it possible to regulate or prevent a recurring supply of oxygen for soot particle combustion, e.g. as far as the soot particle combustion could get out of control.

In particular, by influencing the driving profile and changing the control specification, it is possible, for example, to avoid long braking phases with a high proportion of oxygen in the exhaust gas and low exhaust gas flow in order to better control soot particle combustion.

In a further variant, adapting the control input and / or changing the acceleration and / or deceleration profile may include inserting a specification of a limited throttle input and / or deceleration followed by a time and magnitude limited exposure of the throttle Gasgebens in the control target and / or in the loading and / or deceleration profile.

The inclusion of short phases of limited throttle giving followed by a release of their throttle demand is also referred to as "tip-in-cycling" and ensures, for example, in phases of low engine loads, for example cyclic starting of the engine. As a result, phases are terminated with reduced or interrupted fuel supply to the gasoline engine, in which little fuel is burned and the oxygen concentration in the exhaust gas is comparatively high, while the exhaust gas flow rate is low. Especially in these phases, the combustion process threatens to get out of control as part of the gasoline particle filter regeneration. By regularly interrupting the engine starts regularly, it is burned fuel and thus reduces the oxygen concentration and simultaneously increases the exhaust gas flow rate. Thus, the inclusion of tip-in-cycling in a low power driving profile such as in dense traffic can further enhance the protection of the gasoline particulate filter from thermal overheating.

In one variant, the adaptation of the control specification and / or the changing of the acceleration and / or deceleration profile can be carried out on the basis of at least one information from a group comprising information exchanged between the motor vehicle and another motor vehicle, navigation information relating to a route to be followed in the future , a traffic information, a traffic control information, an injection timing for gasoline in the gasoline engine, and a temperature request of a catalyst.

For example, the adaptation of the control specification may be dependent on the communication between vehicles that are in the immediate vicinity of the traffic, this information being e.g. can be exchanged wirelessly via any information protocol (vehicle-to-vehicle communication, V2V communication). As a result, the motor vehicle can be pointed out, for example, to vehicles which are located in the vicinity but are not yet visible to the driver or a camera. On the basis of such information, for example, acceleration can be inhibited if e.g. a vehicle not yet visible behind an obstacle obstructs the planned route.

Accordingly, navigation information relating to a route to be tracked in the future can also be used to adapt the driving profile or the control specification. For example, if a long, even downhill is provided in which only a small engine power is needed, it may be useful to interrupt a regeneration process, curb or postpone.

Correspondingly, traffic information such as information about a preceding traffic jam or a smog warning makes it sensible to interrupt, contain or delay the regeneration process, since engine idling is likely and difficult to avoid in a traffic jam. The same also applies to traffic control information such as traffic light information, which can make it difficult to vary the driving profile beforehand, so that a regeneration process can possibly be interrupted or postponed.

Also a e.g. With regard to a temperature requirement of a catalyst system required injection timing for gasoline in the gasoline engine can be considered that this can limit the variations of the driving profile and thus the control of the regeneration process.

In another embodiment, adjusting the control default may vary a fraction of oxygen in the exhaust gas routed through the gasoline particulate filter and / or the volumetric flow of exhaust gas passed through the gasoline particulate filter.

By lowering the oxygen concentration in the exhaust gas, the combustion process can be contained as part of the gasoline particle filter regeneration, while alternatively or simultaneously overheating in the gasoline particle filter can be prevented by the increased exhaust gas volume flow.

In a further variant, the vehicle has an autonomously and / or electronically switchable clutch for coupling the wheels to a drive train having the gasoline engine. Furthermore, the change of the control specification on a coupling or uncoupling of the wheels by means of the autonomous and / or electronically switchable coupling.

The autonomously shiftable clutch, for example, an electronic clutch, also referred to as "e-clutch" have. With such an electronic clutch, a request to open or close the clutch via an electronic signal to an actuator can be transmitted, which operates the clutch.

As a result, for example, a long drive with the clutch open, in which the gasoline engine quickly get into the idle mode and would run for a long time in idle mode, avoided or by electronically closing the Clutch to be interrupted. This has the advantage of being able to avoid the low exhaust gas volumetric flow rate in idle mode, which could cause the combustion process to get out of control during regeneration. It is also possible according to the requirements of oxygen concentration and exhaust gas flow, for example while driving at a uniform speed, the engine by means of the autonomously shift clutch on or off as needed, so that according to requirements between idling and operation of the engine can be varied. In addition, the engine can also be switched off when the clutch is open. This would interrupt an exhaust gas supply to the gasoline particle filter.

In a further embodiment, the gasoline particle filter can be combined and / or combined with further catalyst stages. For example, the gasoline particulate filter may be combined with a selective catalytic reduction (SCR) NOx catalyst, which preferably reduces nitrogen oxides and promotes side reactions such as the oxidation of sulfur dioxide to sulfur trioxide. In this embodiment, the driving profile can take into account special boundary conditions for the operation of the combined catalyst, in particular of the NOx catalyst.

A control device for autonomously controlling the motor vehicle in a self-steering mode in which the motor vehicle travels without need for driver monitoring and driver control may be configured to combust combustion gasoline particulate filters disposed in an exhaust tract of a gasoline engine during autonomous control to monitor stored soot particles and adjust in response to a monitoring result of monitoring a control target for the self-steering mode of the motor vehicle.

The control device can be implemented in an example, separate on-board computer or control unit or realized as part of a motor control and / or an autopilot. It may be offered for use in gasoline engine vehicles and gasoline particulate filters to protect the gasoline particulate filter and increase its life in accordance with the above principles of action.

A motor vehicle includes a gasoline engine, a gasoline particulate filter disposed in an exhaust tract of the gasoline engine, and a control device for autonomously controlling the motor vehicle, the control device configured to carry out any variant or embodiment of the described method of protecting the gasoline particulate filter.

The above-described characteristics, features and advantages of the invention, as well as the manner in which they will be achieved, will become clearer and more clearly understood in connection with the following description of the exemplary embodiments, which are explained in more detail in conjunction with the drawings. It shows

1 an arrangement of relevant parts of a motor vehicle with a gasoline engine, a gasoline particulate filter and a control device for autonomously controlling the motor vehicle, and

2 a method for protecting a gasoline particulate filter from thermal overheating during regeneration.

1 shows schematically relevant parts of a motor vehicle 1 which is a gasoline internal combustion engine 2 having, via an engine output shaft 3 with the input of a clutch transmission unit 4 is coupled. The clutch transmission unit 4 is via a transmission output shaft 5 with the input of a differential 6 coupled, whose outputs via axle shafts 7 with two wheels 8th of the motor vehicle 1 are coupled.

The car 1 also has a self-control device 9 for autonomously controlling a driving operation of the motor vehicle 1 on. The self-control device 9 can be in a self-controlling mode 10 or alternatively in a driver-controlled mode 11 are located and therefore more or less active in the vehicle control intervene.

The self-control device 9 receives input signals from in the motor vehicle 1 distributed sensors arranged 12 and controls in the motor vehicle 1 arranged actuators 13 to, in particular the driving behavior determining components of the motor vehicle 1 , In particular, the self-control device 9 on an operation of an engine control unit 14 for controlling the gasoline engine 2 , on an electronic clutch 15 for controlling the clutch / transmission unit 4 , interact with a braking and steering system.

Furthermore, the motor vehicle 1 an exhaust tract 16 for collecting and removing combustion exhaust gases of the gasoline internal combustion engine 2 on, being in this exhaust tract 16 a gasoline particle filter 17 is arranged, the one or more catalysts, in the illustrated embodiment, a 3-way catalyst 27 , upstream and / or downstream.

In the in 1 shown motor vehicle 1 can that in 2 shown method for the protection of the gasoline particle filter 17 against thermal overheating, in particular during a regeneration process of the gasoline particle filter 17 be performed.

After a start 18 of the self-controlling mode 10 in which the motor vehicle 1 autonomously, ie without any special influence or completely without the driver's intervention, by the self-control device 9 can be controlled, a start 19 a regeneration process for the gasoline particle filter 17 as far as this is due to the condition of the gasoline particulate filter 17 is displayed.

Subsequently, the process can 20 to protect the gasoline particulate filter 17 before thermal overheating during the regeneration process. This allows the gasoline particle filter 17 For example, from thermal damage and premature aging by an uncontrolled intensifying combustion of the in the gasoline particle filter 17 be protected carbon black.

In particular, monitoring can be done 21 the temperature of the gasoline particle filter 17 and / or by the gasoline particle filter 17 conducted exhaust gas, based on monitoring 21 It is decided whether to continue 22 the regeneration process is possible, for example, because the observed temperature of the gasoline particulate filter 17 has not yet exceeded a given threshold. Continuing the regeneration process can continue to monitor continuously 21 the temperature be made.

Alternatively, if monitoring 21 the temperature of the gasoline particle filter 17 has revealed that continuing 22 the regeneration process is not useful or even harmful, as in the gasoline particle filter 17 already a strong combustion takes place, can be an adjustment 23 a control target for the self-control mode by the self-control device 9 be made. In particular, in this case, a speed specification, a specification of a gear, by the motor vehicle 1 to be achieved loading and / or deceleration profile and / or by the motor vehicle 1 can be changed or adjusted to be reached acceleration and / or braking gradient. Furthermore, also a maximum interruption period of a fuel supply to the gasoline engine 2 be given, after their elapse mandatory fuel again to the gasoline engine 2 is to be supplied.

In particular, changing the control target may aim to increase the amount of oxygen in the gasoline particulate filter 17 guided exhaust gas and / or a flow of the through the gasoline particle filter 17 guided exhaust gas, in particular to reduce the oxygen content or to vary the volume flow to one in the gasoline particle filter 17 to curb, interrupt or control the regeneration that is taking place. Furthermore, it can be decided whether to continue 24 the regeneration process makes sense, or whether a stop 25 the regeneration process is indicated, for example, overheating or premature aging of the gasoline particulate filter 17 submissions. After that, the method for protecting the gasoline particulate filter 17 completed 26 become.

By means of the method, the self-control mode of the motor vehicle 1 be used to the regularly necessary regeneration phases of the gasoline particulate filter 17 to perform controlled. This can be thermally controlled by influencing the driving profile in the self-control of the regeneration process. Overheating and premature aging are thereby avoided. So can the life of the gasoline particulate filter 17 be extended. Furthermore, fault memory entries are due to overheating of the gasoline particulate filter 17 avoided and extended service intervals. In addition, through the regular and monitored regeneration of the gasoline particulate filter 17 improved engine efficiency can be achieved. A spatial size of the gasoline particle filter 17 can be reduced because the memory capacity can be kept lower due to the regular filter regeneration. On the whole, improved compliance with strict emission standards over the entire life of the motor vehicle 1 and an extension of the life of the gasoline particulate filter 17 achieved at reduced maintenance costs.

Although the invention has been further illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

LIST OF REFERENCE NUMBERS

1

 motor vehicle

2

 Gasoline engine

3

 Engine output shaft

4

 Clutch / gear unit

5

 Gearbox output shaft

6

 differential

7

 axle shaft

8th

 wheel

9

 Self control device

10

 self-controlling mode

11

 driver-controlled mode

12

 sensors

13

 actuators

14

 Engine control unit

15

 electronic clutch

16

 exhaust tract

17

 gasoline particulate filter

18

 Start the self-control mode

19

 Start the regeneration process

20

 Procedure for protecting the gasoline particulate filter from overheating

21

 Monitoring the temperature of the gasoline particle filter

22

 Continue the regeneration process

23

 Adjust a control default of the self-control mode

24

 Decision regarding the continuation of the regeneration process

25

 Stop the regeneration process

26

 The End

27

 3-way catalyst

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 non-patent literature

• Euro6.2 standard [0002]

Claims (9)

Procedure ( 20 ) for protecting a gasoline particulate filter ( 17 ) from overheating and premature aging, whereby the gasoline particulate filter ( 17 ) in the exhaust tract ( 16 ) of a gasoline engine ( 2 ) of a motor vehicle ( 1 ), and wherein the motor vehicle ( 1 ) a self-control mode ( 10 ) for autonomously controlling a driving operation of the motor vehicle ( 1 ) in which the motor vehicle ( 1 ) without the need for monitoring by a driver and driving instructions of the driver, having, with - starting ( 18 ) of the self-control mode ( 10 ), - Start ( 19 ) a regeneration process of the gasoline particle filter ( 17 ) with burning the at the gasoline particle filter ( 17 ) deposited soot particles, during the regeneration process, monitoring ( 21 ) a temperature of the gasoline particle filter ( 17 ) and / or by the gasoline particle filter ( 17 ) guided exhaust gas, and - depending on a monitoring result of monitoring, adjusting ( 23 ) a control default for the self-control mode ( 9 ) of the motor vehicle ( 1 ). The method of claim 1, wherein said adjusting ( 23 ) of the control specification comprising at least one specification from a group - one in a manual transmission ( 4 ) of the motor vehicle ( 1 ) gear to be used, - one by the motor vehicle ( 1 ) to be reached, - a by the motor vehicle ( 1 ) to be reached loading and / or deceleration profile, - one by the motor vehicle ( 1 ) to be reached acceleration and / or braking gradient, - a maximum interruption period of a fuel supply to the gasoline engine ( 2 ), and - an interruption frequency of the fuel supply changes. Method according to claim 1 or 2, wherein said fitting ( 23 ) of the control input and / or the changing of the acceleration and / or deceleration profile, an insertion of a specification of a temporally and amount limited throttle giving followed by a time and amount limited exposure of the gas giving in the control target and / or the acceleration and / or deceleration profile. Method according to one of the preceding claims, wherein the adaptation ( 23 ) the control specification and / or the changing of the acceleration and / or deceleration profile is carried out on the basis of at least one information from a group comprising - an information exchanged between the motor vehicle and another motor vehicle, - navigation information relating to a future route to be followed, - one Traffic information, - a traffic control information, - an injection timing for gasoline in the gasoline engine, and - a temperature requirement of a catalyst. Method according to one of the preceding claims, wherein by adjusting ( 23 ) the control input a proportion of oxygen in a through the gasoline particle filter ( 17 ) and / or a volumetric flow of the exhaust gas passed through the gasoline particle filter is varied. Method according to one of the preceding claims, wherein the motor vehicle ( 1 ) an autonomously and / or electronically switchable coupling ( 15 . 4 ) for coupling the wheels ( 8th ) with a gasoline engine ( 2 ), and the change of the control specification, a coupling or uncoupling of the wheels ( 8th ) by means of the autonomously and / or electronically switchable coupling ( 15 . 4 ) having. Method according to one of the preceding claims, wherein the gasoline particle filter ( 17 ) can be combined and / or combined with further catalyst stages. Control device ( 9 ) for the autonomous driving of a motor vehicle ( 1 ) in a self-control mode ( 10 ) in which the motor vehicle ( 1 ) without the need for monitoring by a driver and driver's control specifications, characterized in that the control device ( 9 ) is designed, during autonomous control, to burn in one of an exhaust tract ( 16 ) of a gasoline engine ( 2 ) arranged gasoline particle filter ( 17 ) and monitor a self-control mode control target in response to a monitoring result of the monitoring ( 10 ) of the motor vehicle ( 1 ). Motor vehicle ( 1 ) with - a gasoline engine ( 2 ), - one in an exhaust tract ( 16 ) of the gasoline engine ( 2 ) arranged gasoline particle filter ( 17 ), and - a control device ( 9 ) for the autonomous control of the motor vehicle ( 1 ) according to claim 7.

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