Motor vehicle with driven wheels on a number of axles and method for controlling same

A motor vehicle with several wheels, wherein two of the wheels are arranged on a steerable axle of the motor vehicle and each of the two wheels is respectively driven by an individual wheel drive, wherein at least one of the wheels is arranged on a non-steerable axle of the motor vehicle and driven by a wheel drive, and wherein the motor vehicle additionally comprises a control unit for controlling the individual wheel drives and the controller is configured for;

• detecting a malfunction of one of the individual wheel drives of the wheels that are arranged on the steerable axle of the motor vehicle, wherein another of the individual wheel drives of the wheels arranged on the steerable axle of the motor vehicle is still fully functional;
• generating a drive torque or a braking torque with one of the functional individual wheel drives of the wheel that is arranged on the steerable axle of the motor vehicle in order to steer the wheels arranged on the steerable axle in a predetermined direction;
• and
• generating a drive torque or a braking torque with the wheel drive of the wheel that is arranged on the non-steerable axle of the motor vehicle in order to as least partially effect a predetermined longitudinal movement of the motor vehicle.

A motor vehicle comprising:

• a first steerable wheel driven by a first wheel motor;
• a second steerable wheel driven by a second wheel motor;
• an unsteerable wheel driven by a third wheel motor;
• and
• a controller configured to detect a failure of the first wheel motor and respond by commanding a first torque from the second wheel motor and a second torque from the third wheel motor to induce a predefined steering angle and a predefined longitudinal force.