METHOD FOR COORDINATING THE OPERATION OF MOTOR VEHICLES THAT DRIVE IN FULLY AUTOMATED MODE
1 Assignment
0 Petitions
Accused Products
Abstract
In a method for coordinating operation of motor vehicles driving fully automated, a trajectory described by a driving intervention is determined for each motor vehicle from status information of the motor vehicle, whereafter it is determined by an on-board vehicle system whether a coordination condition exists that requires coordination. If a coordination condition exists, trajectory data describing the trajectory are exchanged between the motor vehicles via a communication link through an on-board communication device and the trajectory is checked for conflicts caused by spatial and temporal overlap of the trajectories of at least two motor vehicles and/or because at least one of the motor vehicles did not reach its destination. If a conflict exists, the trajectory of a motor vehicle participating in the conflict is adjusted based on an arbitration rule evaluated by an arbitration device, whereafter the driving interventions described by the trajectory are performed by each motor vehicle.
80 Citations
42 Claims
-
1-19. -19. (canceled)
-
20. A method for coordinating operation of motor vehicles driving in fully automated mode, comprising the steps of:
-
determining with an on-board vehicle system for each motor vehicle a trajectory describing at least one driving intervention from ego-information describing a condition of the motor vehicle including a destination, and environmental information describing an environment of the motor vehicle, determining with the on-board vehicle system whether at least one coordination condition indicating a necessary coordination exists, when the at least one of the coordination conditions exists, performing the following steps; exchanging with an on-board communication device of each motor vehicle via a communication link trajectory data that describe the trajectory, checking the trajectory of the vehicles for conflicts that exist when the trajectories of at least two of the motor vehicles spatially and temporally overlap or when at least one of the motor vehicles fails to reach its destination, or both, when a conflict exists; adjusting the trajectory of at least one motor vehicle involved in the conflict based on at least one arbitration rule, which is evaluated by an arbitration device, and transmitting the respective adapted trajectory via the respective communication device to the respective motor vehicle, and executing with each motor vehicle the at least one driving intervention described by the respective trajectory. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
-
-
42. A motor vehicle comprising
at least one sensor, a communication device for at least one of vehicle-to-vehicle and vehicle-to-infrastructure communication, and a vehicle system configured to participate in coordinating operation of motor vehicles driving in fully automated mode, by: -
determining with an on-board vehicle system for each motor vehicle a trajectory describing at least one driving intervention from ego-information describing a condition of the motor vehicle including a destination, and environmental information describing an environment of the motor vehicle, determining with the on-board vehicle system whether at least one coordination condition indicating a necessary coordination exists, when the at least one of the coordination conditions exists, performing the following steps; exchanging with an on-board communication device of each motor vehicle via a communication link trajectory data that describe the trajectory, checking the trajectory of the vehicles for conflicts that exist when the trajectories of at least two of the motor vehicles spatially and temporally overlap or when at least one of the motor vehicles fails to reach its destination, or both, when a conflict exists; adjusting the trajectory of at least one motor vehicle involved in the conflict based on at least one arbitration rule, which is evaluated by an arbitration device, and transmitting the respective adapted trajectory via the respective communication device to the respective motor vehicle, and executing with each motor vehicle the at least one driving intervention described by the respective trajectory.
-
Specification