Method for creating and / or updating a digital road map suitable for route planning of an autonomous vehicle

Abstract

In order to provide a method for creating and / or updating a digital road map suitable for route planning of an autonomous vehicle (15), a method (100) for creating and / or updating a digital road map (10) suitable for route planning of an autonomous vehicle (15) is proposed, comprising the steps - Providing a digital road map (10) in a storage device (14) comprising information relating to a road network (11), - Determine, by means of a data processing device (26), for at least one intersection (12, 12a) and / or a road section (13, 13a, 13b, 13c) of the road network (11), a probability of impairment and / or an indicator value that an emergency vehicle (16) may be hindered or blocked by the presence of an autonomous motor vehicle (15) at the intersection (12, 12a) and / or on the road section (13, 13a, 13b, 13c), - Assigning the probability of impairment and / or the indicator value to the junction (12, 12a) and / or the road segment (13, 13a, 13b, 13c) using the data processing device (26), and - Storing the probability of impairment and / or the indicator value assigned to the node (12, 12a) and / or the road segment (13, 13a, 13b, 13c) in the storage device (14).

Description

[0001] The present invention relates to a method for creating and / or updating a digital road map suitable for route planning of an autonomous motor vehicle. Furthermore, the invention relates to a method for fleet management of autonomous motor vehicles and a method for route planning for an autonomous motor vehicle.

[0002] Autonomous or automated motor vehicles interact with a highly complex and dynamic environment. Motor vehicles with a high level of automation (SEA Level 3, 4, or 5) must perceive and navigate this environment without interaction or guidance from a human driver. Certain scenarios can pose a challenge for such a motor vehicle, particularly when it must navigate outside of normal boundary conditions. For example, an automated or autonomous motor vehicle must also handle scenarios in which it must interact with emergency vehicles as part of the traffic situation. Since emergency vehicles have priority in certain scenarios, the automated or autonomous motor vehicle must react quickly to an approaching emergency vehicle and ensure that the emergency vehicle is not impeded in its progress.Such scenarios can pose a challenge for automated or autonomous vehicles due to time constraints, complexity and criticality.

[0003] US 2022 / 0410937 A1 discloses a method for controlling the reaction of autonomous motor vehicles to emergency vehicles. Sensor data identifying an emergency vehicle approaching the autonomous motor vehicle is received. Furthermore, a predicted trajectory for the emergency vehicle is received. Based on the predicted trajectory of the emergency vehicle and map information identifying a road on which the autonomous motor vehicle is traveling, it is determined whether the autonomous motor vehicle may interfere with the emergency vehicle. Based on a determination that the autonomous motor vehicle interferes with the emergency vehicle, the motor vehicle can be controlled in an autonomous driving mode to react to the emergency vehicle.

[0004] US 2023 / 0063133 A1 discloses a method for a motor vehicle having a communication device configured to receive external information concerning emergency vehicles. In a control method, the information concerning the emergency vehicle is received, and a route of the emergency vehicle is determined based on the information. The determined route of the emergency vehicle is compared with a trajectory of the motor vehicle, and the trajectory of the motor vehicle is changed if at least part of the route of the emergency vehicle is identical to part of the trajectory of the motor vehicle.

[0005] US 2020 / 0098253 A1 discloses a method for influencing a traffic management system, including providing position data of a destination for at least one emergency vehicle, providing the current position data and the data of the current direction of travel vector of the at least one emergency vehicle, and predicting a route of the at least one emergency vehicle from its current position to the destination, taking into account the direction of travel selected by the driver of the emergency vehicle. The method further comprises influencing an autonomous motor vehicle such that the autonomous motor vehicle has changed its direction of travel and / or its speed before the emergency vehicle arrives, so that traffic flow is not disrupted.

[0006] In the known methods for controlling autonomous vehicles in the event of an encounter with an emergency vehicle, a decision on how the autonomous vehicle should react to the situation must be made immediately at the actual time of the encounter with the emergency vehicle. In certain cases, this may result in insufficient response options for the autonomous vehicle, meaning that obstruction or blocking of the emergency vehicle cannot be completely ruled out. Furthermore, the route changes proposed in the prior art may be unnecessary for the autonomous vehicle if there is no risk of obstruction or blocking of the emergency vehicle at the location of the actual encounter with the emergency vehicle.

[0007] There is therefore a need in the state of the art for a method for creating and / or updating a digital road map suitable for route planning of an autonomous motor vehicle, by means of which a situation-adapted and in particular predictive control of autonomous motor vehicles can be carried out in the event of an encounter with emergency vehicles.

[0008] To achieve the object underlying the invention, a method for creating and / or updating a digital road map suitable for route planning of an autonomous motor vehicle is proposed, comprising the steps - Providing a digital road map in a storage device comprising information relating to a road network, - Determining, by means of a data processing device, for at least one intersection and / or road section of the road network, a probability of impairment and / or an indicator value that an emergency vehicle may be obstructed or blocked by the presence of an autonomous motor vehicle at the intersection and / or on the road section, - Assigning the probability of impairment and / or the indicator value to the intersection and / or the road section by means of the data processing device, and - Storing the probability of impairment and / or the indicator value associated with the junction and / or the road section in the storage device.

[0009] The storage device can be a storage device of a navigation system or a route planning system of an autonomous motor vehicle. The storage device can also be an external storage device, for example, of a backend server configured for data transmission with a navigation system or a route planning system of an autonomous motor vehicle.

[0010] Likewise, the data processing device can be a data processing device of an autonomous motor vehicle, in particular a navigation system or a route planning system of the autonomous motor vehicle. Alternatively, the data processing device can also be an external data processing device, such as a backend server.

[0011] The digital road map contains information about a road network. The road network consists of intersections and road sections, each of which is preferably assigned a geographical position and information about adjacent intersections and / or road sections.

[0012] According to the invention, a probability of impairment and / or an indicator value is determined by means of the data processing device for at least one intersection and / or a road section of the road network, wherein the probability of impairment and / or the indicator value indicates whether an emergency vehicle can be hindered or blocked by the presence of an autonomous motor vehicle at the intersection and / or on the road section.

[0013] The intersections and / or road sections can be, for example, road intersections, road sections with narrow carriageway or lane widths, or intersections or road sections with a statistically high traffic volume.

[0014] At such intersections or road sections, the reaction options for an autonomous motor vehicle when an emergency vehicle approaches may be limited, and it may not be possible to prevent interference, blockages or obstructions to the emergency vehicle by the autonomous motor vehicle if these intersections or road sections are not known in advance.

[0015] Further criteria for determining the probability of impairment and / or the indicator value will be explained below.

[0016] The probability of disruption can be a percentage value, which is determined, for example, based on statistical or historical data. For example, based on statistical or historical data, it can be determined that at a certain intersection or road section there is a 90% probability that an emergency vehicle could be disrupted if it encounters an autonomous vehicle, possibly in the presence of increased traffic volume. In the simplest case, the indicator value can be a binary value, where, for example, the value 1 means that a disruption or disruption of an emergency vehicle can be expected at the corresponding intersection or road section, and the value 0 means that no disruption or disruption is to be expected. However, the indicator value can also take on any intermediate value between 0 and 1.

[0017] If a disruption probability and / or an indicator value for a junction or road section has been determined according to the method, the disruption probability and / or indicator value is assigned to the junction and / or road section and stored in the storage device. This allows the disruption probabilities or indicator values ​​assigned to the junctions and / or road sections intended for the route to be retrieved again when the digital road map is accessed, for example, as part of vehicle navigation or route planning, and to be incorporated into the route planning.For example, if it is determined during route planning that an emergency vehicle is approaching, the route of the autonomous vehicle can be changed based on the digital road map and the probabilities of disruption and / or indicator values ​​associated with the intersections and / or road sections of the road network, or a predetermined behavior of the autonomous vehicle can be provided.

[0018] Preferably, it is provided that probabilities of impairment and / or indicator values ​​are determined for a plurality of intersections and / or road sections of the road network.

[0019] Thus, impairment probabilities and / or indicator values ​​are preferably available in the storage device for a large part of the road network or for the entire road network, which can be included in the route planning of an autonomous motor vehicle.

[0020] It is further advantageous that the process is repeated, preferably continuously.

[0021] In other words, the digital road map can be continuously updated, and impact probabilities and / or indicator values ​​for the intersections and / or road sections of the road network can be modified and adjusted.

[0022] It is particularly advantageous that the probability of impairment and / or the indicator value is determined as a function of a road characteristic of the intersection and / or the road section.

[0023] The road property can be a road cross-section, a roadway width, a number of lanes, a lane width, a road category, a road equipment, a road course or a topographical profile.

[0024] If, for example, a particular road section has a narrow roadway width, a small number of lanes, or a narrow lane width, an encounter between an autonomous vehicle and an emergency vehicle on that road section may, in principle, result in the disruption or blocking of the emergency vehicle. Accordingly, such a road section of the road network is assigned an increased disruption probability and / or a higher indicator value.

[0025] The road features provided at the intersection and / or road section, such as traffic signs, traffic lights, etc., can also influence the autonomous vehicle's ability to react in the event of an encounter with an emergency vehicle. Accordingly, the road features can also be included in determining the probability of impact and / or the indicator value.

[0026] If the road section is a section with a curved course which is difficult to detect for the sensor systems of the autonomous vehicle, or if there is a special topographical profile, such as a steep incline or decline, the probability of impairment and / or the indicator value can also be set high in these locations.

[0027] With further advantage, it is preferably provided that the probability of impairment and / or the indicator value is determined as a function of data, wherein the data comprises current and / or historical and / or statistical information on a traffic volume and / or on a parking occupancy, in particular a number, a type and / or a position of parked or stopped vehicles, and / or weather information, and / or on a traffic volume at other intersections and / or road sections of the road network.

[0028] Current information can therefore also be used to determine the probability of disruption and / or the indicator value. For example, current traffic volumes can be determined for the intersections and / or road sections of the road network. If, for example, there is currently a high traffic volume at a particular intersection or road section, this increases the probability of disruption and / or the indicator value.

[0029] The relevant information on current traffic volume can be determined using state-of-the-art methods. For example, vehicles equipped with appropriate sensors can determine the traffic volume at the corresponding intersections and / or road sections. This data can then be transmitted, for example, to a backend server for evaluation or, using a V2X or Car2Car communication process, to an autonomous vehicle for determining and / or updating the digital road map.

[0030] The traffic volume at the intersection or on the road section can also be determined from historical or statistical data. Further factors for determining the probability of impact and / or the indicator value include the parking occupancy at the intersection and / or road section. The parking occupancy can be either current, historical, or statistically determined. For example, a high number of parked or stopped vehicles can be expected in industrial or residential areas. Such intersections or road sections can therefore be assigned a high probability of impact and / or a high indicator value.

[0031] Weather-related impacts, such as heavy rain, snowfall, etc., can also lead to a high probability of impact and / or a high indicator value.

[0032] In addition, the traffic volume at other intersections or road sections of the road network can also be taken into account in determining the probability of impact and / or the indicator value for the intersection and / or road section under consideration.

[0033] For example, if there is currently an impairment on a neighboring road section, such as a construction site, this may lead to traffic volumes on the road section and / or at the intersection in question that deviate from the usual historical or statistical data. Accordingly, the probability of impairment and / or the indicator value at the intersection and / or road section in question will be increased for the duration of the construction site.

[0034] Furthermore, it can be provided that an instruction for a driving maneuver for an autonomous motor vehicle is assigned to the intersection and / or the road section.

[0035] For example, for an intersection and / or a road section of the road network that is assigned a high probability of disruption and / or a high indicator value, an instruction can be created and stored that states that the autonomous vehicle should stop on the hard shoulder at the corresponding intersection or road section in the event of an encounter with an emergency vehicle. The instruction may also include the information to stop in a parking bay.

[0036] Furthermore, it may be provided that the instruction includes using or exceeding the legally prescribed speed limit at a corresponding junction or road section, as far as possible, in order to pass the junction or road section with the high probability of disruption and / or the high indicator value as quickly as possible.

[0037] A further instruction may be that the autonomous motor vehicle, as far as traffic volume permits, should drive through a traffic light in the event of an encounter with an emergency vehicle.

[0038] The instruction can be determined depending on the type of emergency vehicle expected at the intersection and / or road section.

[0039] In this way, it can be determined, particularly on the basis of statistical data, at which intersections and / or on which road sections there are more police, fire or other emergency service vehicles. Fire service vehicles are generally larger and travel slower than, for example, police vehicles. Accordingly, for intersections and / or road sections with a high probability of disruption and / or a high indicator value, whereby for these intersections and / or road sections there is an increased probability of encountering a fire service vehicle, the instruction can be determined that the autonomous vehicle should provide more space for the emergency vehicle and stop earlier or maneuver closer to the side of the road accordingly.In addition, instructions can be determined for the intersection and / or the road section with a high probability of disruption and / or a high indicator value for different emergency vehicles, whereby a specific instruction is only carried out when an encounter with an emergency vehicle occurs, depending on the type of emergency vehicle.

[0040] In particular, the expected speed of the emergency vehicle and / or the current traffic volume can be taken into account when determining the instruction.

[0041] The impact probability and / or the indicator value can also be determined depending on several or all of the aforementioned parameters or other suitable parameters. For example, it is possible that the impact probability and / or the indicator value depend on historical information on traffic volume, road layout, and parking occupancy. The impact probability and / or the indicator value then represent, in a sense, an aggregate impact probability and / or an aggregate indicator value.

[0042] A further solution to the problem underlying the invention lies in a method for fleet control of autonomous motor vehicles, wherein route planning is carried out for a plurality of autonomous motor vehicles using a road map determined and / or updated using a previously described method, wherein a route is determined for at least one, preferably for several, particularly preferably for all, of the autonomous motor vehicles in such a way that a number of intersections and / or road sections with a high probability of impairment and / or a high indicator value is reduced along the route, or that a stay time of an autonomous motor vehicle at intersections and / or road sections with a high probability of impairment and / or a high indicator value is shortened.

[0043] Route planning can be done using a software-based route planning system.

[0044] This enables predictive fleet management for autonomous vehicles. The probabilities of disruption or indicator values ​​determined, for example, based on road characteristics and current, historical, or statistical traffic volumes, are used to ensure, as part of route planning for a fleet of autonomous vehicles, that as few of the autonomous vehicles as possible converge at the corresponding intersections and / or road sections at the same time.

[0045] A further solution to the problem underlying the invention lies in a method for route planning for an autonomous motor vehicle using a road map determined and / or updated using a previously described method, wherein a planned route for the autonomous motor vehicle is determined by means of a navigation system or route planning system, further comprising the steps - Determining an expected route of an emergency vehicle, - Determine whether the route planned for the autonomous vehicle and the route expected for the emergency vehicle have common intersections and / or road sections with a high probability of disruption and / or a high indicator value, - and, if the route planned for the autonomous motor vehicle and the route expected for the emergency vehicle have common junctions and / or road sections with a high probability of disruption and / or a high indicator value, - Determining, for the autonomous vehicle, a new intended route which has fewer or no common intersections and / or road sections with a high probability of disruption and / or a high indicator value with the route expected for the emergency vehicle, and / or - Adapting, preferably on the basis of an instruction for a driving maneuver assigned to the intersection and / or the road section, a local trajectory of the autonomous motor vehicle at at least one of the common intersections and / or road sections in such a way that an actual probability of blocking or obstructing the emergency vehicle is reduced.

[0046] Some or all of the procedure steps can be carried out using the navigation system or the route planning system.

[0047] The expected route for the emergency vehicle can be determined, for example, based on information provided by the emergency vehicle or an operations control center. This information can, for example, relate to the current location and destination of the emergency vehicle. A data processing device, such as a data processing device of the navigation system or the route planning system of an autonomous motor vehicle, or a data processing device of a backend server, uses this data to calculate the most probable and thus expected route for the emergency vehicle and compares this route with the route planned and intended for the autonomous motor vehicle using a route planning system.If the route planned for the autonomous motor vehicle and the route expected for the emergency vehicle have common intersections and / or road sections, and it is further expected that the emergency vehicle and the autonomous motor vehicle will arrive at the corresponding road sections or intersections at substantially the same time, a new route can be selected for the autonomous motor vehicle which does not have such common intersections and / or road sections with the route expected for the emergency vehicle.

[0048] This can prevent the emergency vehicle from being blocked and / or obstructed. Alternatively or additionally, it can be provided that as soon as an expected route for an emergency vehicle has been determined, the local trajectory of the autonomous motor vehicle is changed at the common intersections and / or road sections. For example, if it is expected that the autonomous motor vehicle and the emergency vehicle will meet at a common intersection and / or road section of the route intended for the autonomous motor vehicle and the route expected for the emergency vehicle within a predetermined time interval, the autonomous motor vehicle can stop beforehand, for example in a parking bay or on a hard shoulder. It can also be provided that the trajectory is changed such that the autonomous motor vehicle moves into another lane.The instructions can be assigned to the intersections and / or road sections of the digital road map as described above and stored in the storage device.

[0049] The invention is explained in more detail with reference to the accompanying figures. They show: Fig. 1 a graphical representation of a digital road map, and Fig. 2 an autonomous motor vehicle and an external server.

[0050] A method 100 in accordance with the invention is described in Fig. 1. The digital road map 10 comprises information relating to a road network 11, wherein the road network 11 comprises intersections 12 and road sections 13. The digital road map 10 can be stored in a storage device 14 of a Fig. 2. A data processing device 26 of the autonomous motor vehicle 15 can determine impairment probabilities and / or indicator values ​​for the intersections 12 and / or road sections 13 of the road network 11, wherein the impairment probabilities and / or the indicator values ​​indicate whether an emergency vehicle 16 may be impeded or blocked by the presence of the autonomous motor vehicle 15 at the corresponding intersection 12 and / or on the corresponding road section 13. For example, on a road section 13a having a small number of lanes or narrow lane widths, an encounter with an emergency vehicle 16 may result in the autonomous motor vehicle 15 impeding the emergency vehicle 16.Intersections 12a and / or road sections 13b in a residential area 17, where high parking occupancy is expected, can also be assigned a high probability of impairment or a high indicator value.

[0051] The actual traffic volume can also be taken into account when determining the probability of disruption and / or the indicator value. For example, stop-and-go traffic may be expected on a road section 13c due to current high traffic volumes. Accordingly, this road section 13c is also assigned a high probability of disruption and / or a high indicator value.

[0052] After the determined impairment probabilities and / or the determined indicator values ​​have been assigned to the intersections 12, 12a and / or road sections 13, 13a, 13b, 13c, they are stored in the storage device 14 together with the information on the road network 11. Thus, these impairment probabilities and / or indicator values ​​can be used as part of route planning for an autonomous motor vehicle 15 in order to avoid blockages and / or obstructions of an emergency vehicle 16.

[0053] In the Fig. 1, the emergency vehicle 16 is on its way from a current position 18 to an emergency location 19. The current position 18 and the emergency location 19 of the emergency vehicle 16 are transmitted to an external server 20 ( Fig.2) is transmitted, and an expected route 21 of the emergency vehicle 16 is determined by the external server 20. At the same time, the autonomous motor vehicle 15 is located in the vicinity of the emergency vehicle 16. The autonomous motor vehicle 15 follows a planned route 22, which was determined by a route planning system 23 using the digital map 10. The route 21 expected for the emergency vehicle 16 and the route 22 planned for the autonomous motor vehicle 15 have common road sections 13a, 13c, for which a high probability of impairment and / or a high indicator value was determined.

[0054] The route planning system 23 of the autonomous motor vehicle 15 receives the route 21 expected for the emergency vehicle 16 from the external server 20 and compares this with the route 22 intended for the autonomous motor vehicle 15. Since the two routes 21, 22 have common road sections 13a, 13c for which a high probability of impairment and / or a high indicator value has been determined, the route planning system 23 determines a new route 24 for the autonomous motor vehicle 15 which has no common intersections and / or road sections with high probabilities of impairment and / or high indicator values ​​with the route 21 expected for the emergency vehicle 16.Alternatively, the route planning system 23 could also instruct the autonomous motor vehicle 15 to stop in a parking bay 25 until the emergency vehicle 16 has passed the road section 13a based on an instruction stored together with the probability of impairment and / or the indicator value for a road section 13a. List of reference symbols 100 procedures 10 Digital road map 11 Road network 12 Junction 12a Junction 13 road section 13a road section 13b road section 13c road section 14 Storage device 15 Autonomous motor vehicle 16 emergency vehicles 17 residential area 18 Current Position 19 Location 20 External Server 21 Expected route 22 Intended route 23 Route planning system 24 New Route 25 parking bays 26 Data processing device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This 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

[0000] US 2022 / 0410937 A1

[0003] US 2023 / 0063133 A1

[0004] US 2020 / 0098253 A1

[0005]

Claims

[1] Method (100) for creating and / or updating a digital road map (10) suitable for route planning of an autonomous motor vehicle (15), comprising the steps - Providing a digital road map (10) in a storage device (14) comprising information relating to a road network (11), - determining, by means of a data processing device (26), for at least one intersection (12, 12a) and / or a road section (13, 13a, 13b, 13c) of the road network (11), a probability of impairment and / or an indicator value that an emergency vehicle (16) may be obstructed or blocked by the presence of an autonomous motor vehicle (15) at the intersection (12, 12a) and / or on the road section (13, 13a, 13b, 13c), - Assigning the impairment probability and / or the indicator value to the intersection (12, 12a) and / or the road section (13, 13a, 13b, 13c) by means of the data processing device (26), and - storing the impairment probability and / or the indicator value assigned to the junction (12, 12a) and / or the road section (13, 13a, 13b, 13c) in the storage device (14). [2] Method (100) according to claim 1, wherein impairment probabilities and / or indicator values are determined for a plurality of intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) of the road network (11). [3] Method (100) according to claim 1 or 2, wherein the storage device (14) is a storage device (14) of a navigation system or a route planning system (23) of an autonomous motor vehicle (15), or wherein the storage device (14) is a storage device (14) of an external server (20), in particular a backend server. [4] Method (100) according to one of the preceding claims, wherein the data processing device (26) is a data processing device (26) of an autonomous motor vehicle (15), in particular a navigation system or a route planning system (23) of an autonomous motor vehicle (15), or wherein the data processing device (26) is a data processing device (26) of an external server (20), in particular a backend server. [5] Method (100) according to one of the preceding claims, wherein the method is repeated, preferably continuously. [6] Method (100) according to one of the preceding claims, wherein the impairment probability and / or the indicator value is determined as a function of a road property of the intersection point (12, 12a) and / or the road section (13, 13a, 13b, 13c). [7] The method (100) of claim 6, wherein the road property is a road cross-section, a roadway width, a number of lanes, a lane width, a road category, a road feature, a road course, or a topographical profile. [8] Method (100) according to one of the preceding claims, wherein the probability of impairment and / or the indicator value is determined as a function of data, wherein the data preferably comprise current and / or historical and / or statistical information on a traffic volume. [9] Method (100) according to claim 8, wherein the data comprise current and / or historical and / or statistical information on a parking occupancy, in particular a number, a type and / or a position of parked or stopped vehicles. [10] Method (100) according to claim 8 or 9, wherein the data comprises current and / or historical and / or statistical weather information. [11] Method (100) according to one of claims 8 to 10, wherein the data comprise current and / or historical and / or statistical data on traffic volume at other intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) of the road network (11). [12] Method (100) according to one of the preceding claims, wherein an instruction for a driving maneuver for an autonomous motor vehicle (15) is assigned to the intersection point (12, 12a) and / or the road section (13, 13a, 13b, 13c). [13] Method (100) according to claim 12, wherein the instruction is determined as a function of a type of emergency vehicle (16) expected at the intersection (12, 12a) and / or the road section (13, 13a, 13b, 13c). [14] Method for fleet control of autonomous motor vehicles (15), wherein route planning is carried out for a plurality of autonomous motor vehicles (15) using a road map (10) determined and / or updated using a method (100) according to one of the preceding claims, wherein a route (22, 24) is determined for at least one, preferably for several, particularly preferably for all, of the autonomous motor vehicles (15) in such a way that along the route (22, 24) a number of intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) with a high probability of impairment and / or a high indicator value is reduced, or that a stay time of an autonomous motor vehicle (15) at intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) with a high probability of impairment and / or a high indicator value is shortened becomes. [15] Method for route planning for an autonomous motor vehicle (15) using a road map (10) determined and / or updated by a method (100) according to one of claims 1 to 13, wherein a planned route (22) for the autonomous motor vehicle (15) is determined by means of a route planning system (23), further comprising the steps - determining an expected route (21) of an emergency vehicle (16), - determining whether the route (22) intended for the autonomous motor vehicle (15) and the route (21) expected for the emergency vehicle (16) have common intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) with a high probability of impairment and / or a high indicator value, - and, if the route (22) intended for the autonomous motor vehicle (15) and the route (21) expected for the emergency vehicle (16) have common intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) with a high probability of impairment and / or a high indicator value, - determining, for the autonomous motor vehicle (15), a new intended route (24) which has fewer or no common intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) with a high probability of impairment and / or a high indicator value with the route (21) expected for the emergency vehicle (16), and / or - adapting, preferably on the basis of an instruction for a driving maneuver assigned to the intersection (12, 12a) and / or the road section (13, 13a, 13b, 13c), a local trajectory of the autonomous motor vehicle (15) at at least one of the common intersections (12, 12a) and / or road sections (13, 13a, 13b, 13c) in such a way that an actual probability of blocking or obstructing the emergency vehicle (16) is reduced.

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