DE102023000432A1 - Method for operating a stationary motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a stationary motor vehicle, which has a body and a chassis with an electric drive and a vehicle brake with two wheel brakes on the front axle and on the rear axle. The body of the stationary motor vehicle is moved in a vertical axis of the vehicle and/or around a longitudinal axis of the vehicle by means of the electric drive and the vehicle brake. An optical output (33) is output on at least one optical output device (30) arranged in a vehicle interior of the motor vehicle. The movement of the body is carried out depending on the optical output (33) of the optical output device (30).

Description

The invention relates to a method for operating a stationary motor vehicle.

The EN 10 2015 003 530 A1 describes a method for outputting an image signal in a motor vehicle using an output device of the motor vehicle, wherein a control device of the output device receives an image signal from a digital storage medium. In addition, a control device receives an actuator signal that describes an action to be carried out by an actuator of the motor vehicle and its dependence on a time signal of the image signal. Using the actuator signal, the control device determines the actuator and generates a control signal for the determined actuator that is synchronized using the time signal and the image signal. In this case, the actuator carries out the described action depending on the control signal synchronously with the output of the image signal by an output device of an output device. The actuator is an active wheel suspension system and/or an electromechanical or hydraulic spring system and/or an electromechanical system of a seat device, wherein the actuator carries out a pitching movement and/or rolling movement and/or yawing movement of the motor vehicle and/or a movement of a motor vehicle seat depending on the control signal.

From the US 2017/0136842 A1 An embodiment is known in which the active suspension system of a vehicle is used to induce motion in a vehicle. The vehicle can be used as a platform to enhance the enjoyment of video and/or audio by vehicle occupants.

The DE102021003289A1 describes a method for operating a motor vehicle having a body and a chassis with an active suspension system, in which the body is moved in the vertical direction of the vehicle by means of the active suspension system. In this case, an optical output is output on at least one optical output device arranged in a vehicle interior of the motor vehicle and the movement of the body is carried out depending on the output of the optical output device.

An object of the invention is to provide an improved method for operating a stationary motor vehicle, with which a vehicle occupant of the motor vehicle can be particularly well entertained.

The above-mentioned problem is solved with the features of the independent claim.

Favorable embodiments and advantages of the invention emerge from the further claims, the description and the drawing.

According to one aspect of the invention, a method is proposed for operating a stationary motor vehicle, which has a body and a chassis with an electric drive and a vehicle brake with two wheel brakes on the front axle and on the rear axle. The body of the stationary motor vehicle is moved by means of the electric drive and the vehicle brake in a vehicle vertical axis and/or about a vehicle transverse axis and/or about a vehicle longitudinal axis. An optical output is output on at least one optical output device arranged in a vehicle interior of the motor vehicle. The movement of the body is carried out depending on the optical output of the optical output device.

The motor vehicle can be, for example, a passenger car or a commercial vehicle. The structure can, for example, be designed as a self-supporting body.

Advantageously, the proposed method can be used to control vehicle components with the aim of generating vertical movements of the body above the wheel positions when the vehicle is stationary, which, for example, match a computer game or a video that is shown on the displays in the vehicle interior. The movements can be perceived by the occupants as lifting movements, pitching movements and rolling movements.

A lifting movement is a movement of the body along the vehicle's vertical axis, a pitching movement is a tilting of the body around the vehicle's transverse axis, a rolling movement is a tilting of the body around the vehicle's longitudinal axis. The rolling movement can also be described as a rolling movement around the vehicle's vehicle's longitudinal axis. Furthermore, a movement of the body can also include a yaw movement, which represents a rotational movement around the vehicle's vertical axis.

For example, the structure is moved vertically in synchronization with the optical output of the optical output device. As a result of the movements of the structure, the movements and the optical output match each other particularly well, whereby the optical output or a movement represented by the optical output can be perceived particularly realistically by the vehicle occupant. As a result, the vehicle occupant of the motor vehicle can be particularly well entertained by the optical output or the optical output device.

The body's movements are carried out using the electric drive train and the brakes, possibly supplemented by electromechanical stabilizers. This makes it possible to avoid a disadvantage of the state of the art, in which active wheel suspension systems or spring systems that enable rapid active movement of the body in the vertical direction are used. Such active suspension systems are complex and expensive and are therefore only offered in a few vehicles. The proposed method can significantly reduce costs and weight and offer this function in more vehicles.

In two-axle passenger vehicles, the axles are usually designed in such a way that longitudinal forces in the tire contact area, the so-called tire contact area, lead to weaker vertical forces in the body. This so-called drive and brake support angle is chosen in practice so that the pitching of the body, a rotation around the transverse axis, is reduced during acceleration and braking. The vertical forces generated by the axle as a result of the longitudinal forces create a moment around the transverse axis of the vehicle, which counteracts the moment that arises as a result of the inertia forces of the body during acceleration and braking. The proposed method takes advantage of this kinematic property of the axles to move the body vertically using the electric drive train and the brakes.

The proposed method makes it possible to generate movements of the body in the vertical direction of the vehicle above the wheel positions when the vehicle is not moving, which correspond to a computer game or a video, which are shown on the displays in the vehicle interior and are perceived by the occupants as lifting, pitching and rolling movements, without the need for an expensive and heavy active wheel suspension or spring system. Instead, the electric drives, brakes and possibly active stabilizers are used, which are much cheaper and installed in more vehicles.

According to an advantageous embodiment of the method, the optical output can be an optical output of an app, in particular a computer game or a video. The optical output is preferably a sequence of moving images. For example, the optical output is an optical output of a computer game. The optical output of the computer game can be output to the vehicle occupant on the optical output device arranged in the vehicle interior of the motor vehicle, the movement of the structure being carried out in accordance with the output of the computer game or the optical output device in accordance with the optical output. If the at least one vehicle occupant of the motor vehicle plays the computer game, which is carried out, for example, on an electronic computing device of the motor vehicle, the movement of the structure can be carried out in accordance with the computer game or the optical output of the computer game. This can create a particularly realistic gaming experience or feeling of the computer game for the vehicle occupant when playing the computer game. Alternatively, the optical output can be a video, for example a film.

According to an advantageous embodiment of the method, a vehicle occupant can make user inputs to control the computer game using a steering wheel and/or an accelerator pedal and/or a brake pedal of the motor vehicle. In this way, the vehicle occupant can interact with the computer game using vehicle controls and the body of the vehicle can be moved according to the visual output of the computer game. Further inputs for the app can be made using the brake pedal and accelerator pedal as well as the steering wheel. A virtual vehicle in the app could, for example, be accelerated using the accelerator pedal, decelerated using the brake pedal and influenced in its direction of movement using the steering wheel.

According to an advantageous embodiment of the method, the movements of the body can be controlled and/or regulated using level sensors on the motor vehicle and/or measured values from an inertial measuring device. The inertial measuring device can be used to determine the angle of inclination of the vehicle relative to the earth's gravitational field. Using this data, the app can detect whether the vehicle has been parked on a slope or incline. The lifting, pitching and rolling movements of the body can be controlled using the level sensors and the inertial measuring device and adjusted if necessary.

According to an advantageous embodiment of the method, the electric drive can have an electric motor that is operatively connected to the front axle or the rear axle of the motor vehicle. In order to move the body, the two wheel brakes on the front axle or on the rear axle are actuated and, in particular at the same time, the electric motor on the same axle or the respective other axle is actuated to drive or brake.

If there is a braking or driving engine torque on one axle and the brakes are applied on the other axle, the other axle can perform a corresponding movement in the vehicle's vertical axis and thus tilt the body accordingly about the vehicle's transverse axis. If there is a braking or driving engine torque on one axle and the brakes are applied on the same axle, the same axle can perform a corresponding movement in the vehicle's vertical axis and thus tilt the body accordingly about the vehicle's transverse axis. If there is a braking engine torque, the body on the axle compresses; if there is a driving engine torque, the body on the axle rebounds.

According to an advantageous embodiment of the method, the electric drive can have an electric motor that is operatively connected to the front axle and one to the rear axle of the motor vehicle. In order to move the body, the two wheel brakes on the front axle or on the rear axle are actuated and, in particular at the same time, the electric motors on the front axle and rear axle are actuated to drive or brake. This means that the level changes of the body can be superimposed on the actuation of the electric motor on just one axle.

According to an advantageous embodiment of the method, the electric drive can have an electric motor that is operatively connected to the front axle or the rear axle of the motor vehicle. In order to move the body, one of the two wheel brakes on the front axle or on the rear axle is actuated and, in particular at the same time, the electric motor is actuated to drive or brake on the same axle or the other axle. Due to the drive and brake support angle and the brake acting on one side only on one axle, a superimposed lifting, pitching and rolling movement of the body can advantageously be brought about.

According to an advantageous embodiment of the method, the electric drive on each wheel of the front axle and/or on each wheel of the rear axle of the motor vehicle can have an electric motor that is operatively connected to the respective wheel. In order to move the body, the two wheel brakes on the front axle and on the rear axle are actuated and, in particular at the same time, the electric motor is actuated to drive one wheel of an axle and to brake the other wheel of the axle. If both brakes on each axle are actuated, a rolling motion can be generated by an opposing torque of the electric motors. If two electric motors are installed on each axle, the rolling motion can be even more pronounced.

According to an advantageous embodiment of the method, the chassis of the motor vehicle can have electromechanical stabilizers. The electromechanical stabilizers are actuated to move the body, in particular around the vehicle's longitudinal axis. The body can be rotated around the longitudinal axis using the moments built up in the stabilizers. The control of the stabilizers can be combined with the operating strategies for drive and brake described above in order to simultaneously generate lifting, pitching and rolling movements of the body.

Furthermore, the control of the brakes and drive can be staggered in time so that the structure also experiences a limited movement, for example a few centimeters, in the longitudinal direction, i.e. is accelerated and braked over a short period of time. The inertia forces of the structure then lead to additional pitching movements.

According to an advantageous embodiment of the method, the optical output output by means of the optical output device can depend on a natural frequency of the structure and a frequency of the movement of the structure can be adapted to the natural frequency of the structure. Advantageously, the optical output, in particular the computer game or the video, can be output by means of the optical output device depending on the natural frequency, and the structure movement can be carried out in such a way that the frequency of the structure when moving corresponds to the natural frequency of the structure. This can generate structure movements that are clearly or particularly strongly noticeable for the vehicle occupants.

Further advantages emerge from the following description of the drawings. The drawings show an embodiment of the invention. The drawings, the description and the claims contain numerous features in combination. The person skilled in the art will also expediently consider the features individually and combine them into further useful combinations.

• 1 eine Niveauänderung des Fahrwerks als Funktion des Motormoments an einer Hinterachse bei betätigten Bremsen an der Vorderachse;
• 2 eine Niveauänderung des Fahrwerks als Funktion des Motormoments an einer Vorderachse bei betätigten Bremsen an der Hinterachse;
• 3 eine Niveauänderung des Fahrwerks als Funktion des Motormoments an einer Vorderachse bei betätigten Bremsen an der Vorderachse;
• 4 eine Niveauänderung des Fahrwerks als Funktion des Motormoments an einer Hinterachse bei betätigten Bremsen an der Hinterachse;
• 5 ein Systemdiagramm nach einem Ausführungsbeispiel der Erfindung.

Showing:

• 1 a change in the level of the chassis as a function of the engine torque on a rear axle when the brakes on the front axle are applied;
• 2 a change in the level of the chassis as a function of the engine torque on a front axle when the brakes on the rear axle are applied;
• 3 a change in the level of the chassis as a function of the engine torque on a front axle when the brakes on the front axle are applied;
• 4 a change in the level of the chassis as a function of the engine torque on a rear axle when the brakes on the rear axle are applied;
• 5 a system diagram according to an embodiment of the invention.

In the figures, identical or similar components are numbered with identical reference symbols. The figures merely show examples and are not to be understood as limiting.

In the proposed method for operating a stationary motor vehicle, which has a body and a chassis with an electric drive and a vehicle brake with two wheel brakes on the front axle and on the rear axle, the body of the stationary motor vehicle is moved by means of the electric drive and the vehicle brake in a vehicle vertical axis and/or around a vehicle longitudinal axis. An optical output 33 is output on at least one optical output device 30 arranged in a vehicle interior of the motor vehicle (see. 5 ). The movement of the structure is carried out depending on the optical output 33 of the optical output device 30.

The optical output 33 may be an optical output of an app such as a computer game or a video.

1 shows an example of a change in chassis level as a function of engine torque (HA) on a rear axle when the brakes on the front axle are applied.

The electric drive has an electric motor that is operatively connected to the rear axle of the vehicle.

For a vehicle with an electric drive and two wheel brakes on each axle, two operating strategies are possible.

With an operating strategy 1A, as in 1 As shown, the two brakes on the front axle are activated (brake shoes pressed against the brake disc) and the electric motor on the rear axle generates a torque which pushes the vehicle forward (“driving”) or backward (“braking”).

Level 10 of the front axle and level 20 of the rear axle are plotted for an engine torque between -500 Nm and 500 Nm at the rear axle.

Negative engine torques have a braking effect, positive engine torques have a driving effect. Negative level values represent a compression of the body, positive level values represent a rebound of the body.

At the engine torques shown on the rear axle, the structure on the front axle moves between a level of -50 mm and 35 mm. The level of the structure on the rear axle shows movements between -10 mm and 20 mm.

2 shows an example of a change in chassis level as a function of engine torque (VA) on a front axle when the brakes on the rear axle are applied.

The electric drive has an electric motor that is operatively connected to the front axle of the vehicle.

With an operating strategy 1B, as in 2 As shown, the two brakes on the rear axle are activated (brake shoes pressed against the brake disc) and the electric motor on the front axle generates a torque which pushes the vehicle forward (“driving”) or backward (“braking”).

Level 10 of the front axle and level 20 of the rear axle are plotted for an engine torque between -300 Nm and 300 Nm on the front axle.

At the engine torques shown on the front axle, the structure on the front axle moves between a level 10 of -5 mm and 10 mm. Level 20 of the structure on the rear axle shows movements between 20 mm and -15 mm.

3 shows an example of a change in the level of the chassis as a function of the engine torque (VA) on a front axle when the brakes on the front axle are applied.

The electric drive has an electric motor that is operatively connected to the front axle of the vehicle.

Axles with a small longitudinal pole distance also have the property of generating reaction forces in the wheel suspension when the drive and the brake work against each other. This is the case, for example, when you try to drive off in a rear-wheel drive vehicle with the handbrake on the rear axle. The reaction forces in the wheel suspension lead to a significant change in level.

In an operating strategy 2A, as in 3 As shown, both brakes on the front axle are applied and the electric motor on the front axle generates a torque which would push the vehicle forward (“driving”) or backward (“braking”) if the brakes were not applied.

Level 10 of the front axle and level 20 of the rear axle are plotted for an engine torque between -300 Nm and 300 Nm on the front axle.

The level 20 of the rear axle remains practically constant, while the level 10 of the front axle moves between -30 mm and 25 mm.

4 shows an example of a change in the level of the chassis as a function of the engine torque (HA) on a rear axle when the brakes on the rear axle are applied.

The electric drive has an electric motor that is operatively connected to the rear axle of the vehicle.

In an operating strategy 2B, as in 4 As shown, both brakes on the rear axle are applied and the electric motor on the rear axle generates a torque which would push the vehicle forward (“driving”) or backward (“braking”) if the brakes were not applied.

Level 10 of the front axle and level 20 of the rear axle are plotted for an engine torque between -500 Nm and 500 Nm at the rear axle.

The level 20 of the rear axle remains practically constant, while the level 10 of the front axle moves between -30 mm and 25 mm.

Operating strategies 1 and 2 can also be combined with each other, ie in an operating strategy 3A both brakes on the front axle can be actuated and both the electric axle drive on the front axle and the electric axle drive on the rear axle can be controlled.

In a further operating strategy 3B, both brakes on the rear axle can be activated and both the electric axle drive on the front axle and the electric axle drive on the rear axle can be controlled. This allows the 1 to 4 shown level changes are superimposed.

Operating strategies 1 to 3 lead to vertical movements of the body on the front and rear axles. A movement in the same direction on both axles is called lifting, an opposite movement is called pitching. In order to additionally rotate the body around the longitudinal axis, known as rolling, further operating strategies are possible - independently of one another or in combination: for example, an operating strategy 4: one-sided braking; an operating strategy 5: one-sided driving and braking which requires two separate electric drives per axle; and an operating strategy 6: use of active electromechanical stabilizers.

Operating strategy 4 can be represented in four different forms for a vehicle with an electric drive and two wheel brakes on each axle.

In an operating strategy 4A, one of the two brakes on the front axle can be actuated (brake shoes pressed against the brake disc), whereby the electric motor on the rear axle generates a torque that pushes the vehicle forward (“driving”) or backward (“braking”).

In an operating strategy 4B, one of the two brakes on the rear axle can be actuated (brake shoes pressed against the brake disc), whereby the electric motor on the front axle generates a torque that pushes the vehicle forward (“driving”) or backward (“braking”).

In an operating strategy 4C, one of the two brakes on the front axle can be actuated (brake shoes pressed against the brake disc), whereby the electric motor on the front axle generates a torque that pushes the vehicle forward (“driving”) or backward (“braking”).

In a 4D operating strategy, one of the two brakes on the rear axle can be actuated (brake shoes pressed against the brake disc), whereby the electric motor on the rear axle generates a torque that pushes the vehicle forward (“driving”) or backward (“braking”).

Due to the drive and brake support angle and the brake acting on one side only on one axle, operating strategies 1 to 4 can lead to a superimposed lifting, pitching and rolling movement of the body.

All operating strategies described so far are clearly presented in the following table. They can be used individually or in combination.

For operating strategies 4A to 4D, there are two options for operating the left and right wheels. Therefore, the designation 4AA, 4AB to 4DA, 4DB is chosen to distinguish between the two variants. Drive forward/backward Brake applied Operating strategy Front axle Rear axle Front left Front right Back left Rear right 1A x x x 1B x x x 2A x x x 2B x x x 3A x x x x 3B x x x X 4AA x x 4AB x x 4BA x x 4BB x X 4CA x x 4CB x x 4DA x x 4DB x x

Operating strategy 5 requires two separate electric drives per axle, i.e. one electric motor drives the left wheel and a second electric motor drives the right wheel. If both brakes are applied on each axle, then a rolling motion can be generated by an opposing torque of the drives. According to the examples above, for the front axle, this means that in an operating strategy 5A, when the left motor acts in the "driving" direction and the right motor in the "braking" direction, the structure moves upwards on the left side ("rebound") and downwards on the right side ("compression"). In an operating strategy 5B, when the left motor acts in the "braking" direction and the right motor in the "driving" direction, the structure moves downwards on the left side ("compression") and upwards on the right side ("rebound"). On the rear axle, it is exactly the opposite. If two motors are installed on each axle, then the rolling is even more severe.

Operating strategy 6 requires active electromechanical stabilizers, which are state of the art. The body can be rotated around its longitudinal axis using the moments built up in the stabilizers. The control of the stabilizers can be combined with the above operating strategies for drive and brake to simultaneously generate lifting, pitching and rolling movements of the body.

Furthermore, the control of the brakes and drive can be staggered in time so that the structure also experiences a limited movement, for example a few centimeters, in the longitudinal direction, i.e. is accelerated and braked over a short period of time. The inertia forces of the structure then lead to additional pitching movements.

The movements of the body can additionally be controlled and/or regulated by means of level sensors 49 of the motor vehicle and/or measured values of an inertial measuring device 78.

The optical output 32 output by means of the optical output device 30 can depend on a natural frequency of the structure. In this case, a frequency of the movement of the structure can be adapted to the natural frequency of the structure.

5 shows a system diagram according to an embodiment of the invention.

The control of the electric drive, the brakes and possibly the active stabilizers can be implemented in a control unit architecture according to the 5 system diagram shown or a similar architecture with comparable elements.

The computer game or the video, hereinafter referred to as app 32, run on a master infotainment computer 38 and can either be installed on the master infotainment computer 38 at the factory or can be obtained during the service life of the vehicle via the master telematics computer 40 from an app store 42, which is located in a cloud, for example, and installed on the master infotainment computer 38.

The activation and configuration of the app 32 is carried out via the optical output device 30, for example a touch display. The touch display 30 can accept inputs via an operation 31. Any warnings for the operation of the app 32 can also be displayed and confirmed there.

Via the infotainment control computer 38, the app 32 can also use the sound system and interior lighting 70 to generate suitable noises and lighting effects. In addition, the air conditioning and ventilation 71 can be controlled to generate suitable air flows in the interior of the vehicle.

Further inputs for the app 32 can be made via the brake pedal 48 and accelerator pedal 46 as well as the steering wheel 44. For example, a virtual vehicle in the app 32 could be accelerated via the accelerator pedal 46, decelerated via the brake pedal 48 and its direction of movement influenced via the steering wheel 44. In this way, a vehicle occupant can make user inputs to control the computer game by operating 52, 54, 56 of the steering wheel 44 and/or the accelerator pedal 46 and/or the brake pedal 48 of the motor vehicle 10.

As described above, the app 32 uses the electric drive, the brakes and possibly the active stabilizers in the vehicle to represent the desired body movements. To do this, the app 32 requests the available space around the vehicle via the driver assistance control computer 72. The driver assistance control computer 72 determines the distance of the vehicle from the surroundings using the environmental sensors 74 (ultrasound, radar, camera, etc.).

Other conditions can be checked via other sensors 76 in the vehicle, such as closed doors, sufficient on-board voltage, etc.

The app 32 can use the driving master computer 58 to request the angle of inclination of the vehicle relative to the earth's gravitational field from the inertial measuring device 78. Using this data, the app 32 can determine whether the vehicle has been parked on a slope or incline. If the surface is sufficiently level and all other requirements are met, the app 32 can deactivate the parking brake using the driving master computer 58 and the brake control units 64.

The app 32 then uses the driving control computer 58 and the control units of the brake 64, electric drive 62 and possibly the stabilizers 68 to display such lifting, pitching and rolling movements of the body in accordance with the operating strategies listed above, which match the contents of the app 32 shown on the displays 30.

The lifting, pitching and rolling movements of the body can be controlled and possibly adjusted using an actuator 57 of the level sensors 49 and the inertia measuring device 78. In order to mitigate overshooting of the body, an adjustable damping in the dampers can also be controlled, if installed, so that the damping is temporarily increased at the reversal points of the body.

List of reference symbols

10

Front axle level

20

Rear axle level

30

optical output device

31

Actuation of optical output device

32

App

33

optical output

38

Infotainment control computer

40

Telematics control computer

42

App Store

44

steering wheel

46

Accelerator pedal

48

Brake pedal

49

Level sensors

52

Steering wheel operation

54

Accelerator pedal operation

56

Brake pedal operation

57

Actuation of level sensors

58

Driving control computer

60

Steering control unit

62

Drive control unit

64

Brake control unit

66

Suspension system control unit

68

Stabilizer control unit

70

Sound and light system

71

Air conditioning & ventilation

72

Driver assistance control computer

74

Environmental sensors

76

other sensors

78

Inertial measuring device

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was 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 accepts no liability for any errors or omissions.

Cited patent literature

• DE 102015003530 A1 [0002]
• US 2017/0136842 A1 [0003]
• DE 102021003289 A1 [0004]

Claims (10)

Method for operating a stationary motor vehicle, which has a body and a chassis with an electric drive and a vehicle brake with two wheel brakes each on the front axle and on the rear axle, wherein the body of the stationary motor vehicle is moved by means of the electric drive and the vehicle brake in a vehicle vertical axis and/or about a vehicle transverse axis and/or about a vehicle longitudinal axis, wherein an optical output (33) is output on at least one optical output device (30) arranged in a vehicle interior of the motor vehicle, wherein the movement of the body is carried out depending on the optical output (33) of the optical output device (30). Procedure according to Claim 1 , wherein the optical output (33) is an optical output of an app, in particular a computer game or a video. Procedure according to Claim 2 , wherein user inputs for controlling the computer game are carried out by a vehicle occupant by means of a steering wheel (44) and/or an accelerator pedal (46) and/or a brake pedal (48) of the motor vehicle (10). Method according to one of the preceding claims, wherein the movements of the structure are controlled and/or regulated by means of level sensors (49) of the motor vehicle and/or measured values of an inertial measuring device (78). Method according to one of the preceding claims, wherein the electric drive has an electric motor operatively connected to the front axle or the rear axle of the motor vehicle, wherein the two wheel brakes on the front axle or on the rear axle are actuated to move the body and, in particular at the same time, the electric motor on the same axle or the respective other axle is actuated in a driving or braking manner. Method according to one of the preceding claims, wherein the electric drive has an electric motor operatively connected to the front axle and one to the rear axle of the motor vehicle, wherein the two wheel brakes on the front axle or on the rear axle are actuated to move the body and, in particular simultaneously, the electric motors on the front axle and rear axle are actuated in a driving or braking manner. Method according to one of the preceding claims, wherein the electric drive has an electric motor operatively connected to the front axle or the rear axle of the motor vehicle, wherein in order to move the body, one of the two wheel brakes on the front axle or on the rear axle is actuated and, in particular at the same time, the electric motor on the same axle or the respective other axle is actuated in a driving or braking manner. Method according to one of the preceding claims, wherein the electric drive on each wheel of the front axle and/or on each wheel of the rear axle of the motor vehicle has an electric motor operatively connected to the respective wheel, wherein the two wheel brakes on the front axle and on the rear axle are actuated to move the body and, in particular simultaneously, the electric motor is actuated to drive one wheel of an axle and to brake the other wheel of the axle. Method according to one of the preceding claims, wherein the chassis of the motor vehicle has electromechanical stabilizers, wherein the electromechanical stabilizers are actuated to move the body, in particular about the vehicle's longitudinal axis. Method according to one of the preceding claims, wherein the optical output (32) output by means of the optical output device (30) depends on a natural frequency of the structure and a frequency of the movement of the structure is adapted to the natural frequency of the structure.

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