Cooperative resource allocation method for executing a motion maneuver in a road area and associated control circuit and motor vehicle having such a control circuit

Abstract

The invention relates to a method, wherein a road area (10) is divided into a plurality of resources (R1, R2, R3, R4), a storage device (21) for reservation data (22) is provided, the reservation data being used for the specific reservation of the respective resource (R1, R2, R3, R4), the storage device being accessible to the traffic participants (V1, V2, V3, V4), a control circuit (17) of the respective traffic participant (V1, V2, V3, V4) plans a respective movement route (16) on at least one resource (R1, R2, R3, R4) based on the reservation data (22) currently stored in the storage device (21), and reserves the resource (R1, R2, R3, R4) required for this purpose based on the planned movement route (16) by generating its own reservation data (22) in the storage device (21).

Description

Technical Field

[0001] The invention relates to a method for cooperatively allocating resources for carrying out movement maneuvers / movement actions of traffic participants in at least one predetermined road area. Such a road area can be, for example, an intersection through which a traffic participant wants to pass. The road area is divided into a plurality of resources, each of which can now only be occupied by one of the traffic participants. The invention also includes a control device, by which the traffic participant can participate in the method. Finally, the invention provides a motor vehicle having such a control device. Background Art

[0002] Applications for so-called direct V2X communication, such as dedicated radio networks that can be formed by road users without base stations within the radio range of one another, must be able to cover complex situations with multiple road users. Today, this only occurs for individual traffic mechanisms, such as the so-called "Do Not Pass Warning DNPW" or "Emergency Vehicle Warning".

[0003] However, in order to be able to implement networked and automated driving functions, as many traffic scenarios as possible must be covered. To date, there are only sporadic methods to safely and efficiently coordinate motor vehicles, for example through different intersections, via dedicated radio networks such as V2V / V2P / V2I. One example is the "intersection maneuver assistance system", in which an on-board application of the on-board unit (OBU) of the motor vehicle calculates the probability of a collision. Another existing possibility for guiding traffic participants safely through intersections via V2X is through V2I, in which the roadside unit (RSU) serves as a manager and "virtual traffic light". However, new infrastructure must always be built at each intersection because the motor vehicles cannot be coordinated without a control unit.

[0004] A method for self-organized V2X high-speed convoy based on blockchain technology is known from CN 108 492 550 A. The method allocates motor vehicles in a predetermined environment to a temporary convoy and coordinates the driving of the convoy based on blockchain technology by means of V2X communication, so as to design the convoy driving to be inexpensive and efficient.

[0005] EP 3 316 657 A1 discloses a method and a device for motor vehicle management in a vehicle network. The method collects status information of motor vehicles in a network, in particular a V2V network, and manages the status information by using one of the motor vehicles as a lead vehicle, so as to release the status information to other motor vehicles based on a division of radio channel resources on the lead vehicle side.

[0006] EP 3 386 142 A1 discloses how a jointly usable storage device can be provided via a blockchain.

[0007] WO 2019 / 154968 A1 discloses a method for allocating road segments to autonomously travelling traffic participants, wherein the allocation of road segments is accomplished by market simulation. Traffic participants trade with each other or with a centre that allocates road segments by using individual road segments and pay according to their preferences using tokens from a virtual wallet that contains a limited number of tokens. In this case, the road segment is allocated to the traffic participant who is prepared to pay the highest price.

[0008] The prior art does not provide the possibility for traffic participants to coordinate or cooperate their movement maneuvers in the road area without a central control system. Summary of the invention

[0009] The object of the present invention is to coordinate or cooperate road users with one another so that they can carry out mutually coordinated movement maneuvers in this road area.

[0010] This object is achieved by the subject matter of the independent claims. Advantageous embodiments of the invention are described by the dependent claims, the following description and the drawings.

[0011] The invention provides a method for cooperatively allocating or dividing resources for carrying out a maneuver in at least one predetermined road area. For example, subareas in a road area can be managed as corresponding resources so that the resources as a whole are allocated to the road area. "Cooperatively" means that the participating traffic participants mutually agree on the resource allocation without the need for a central or higher-level resource allocation mechanism.

[0012] For this purpose, the road area is divided into a plurality of resources, i.e., a plurality of sub-areas, by means of a predetermined division rule, and a storage device for reservation data is provided for the exclusive reservation of the corresponding resources, which storage device is accessible / usable for each road user located in the predetermined area including the road area. Thus, each road user who wants to use, i.e., wants to drive over or, more generally (e.g., in the case of pedestrians), wants to pass through the road area can access the storage device in order to recognize, based on the reservation data, which resources are already occupied or reserved and which resources are still available.

[0013] The control circuit / control line of the corresponding traffic participant approaching and / or located in a road area in which the required entry point into the road area and the required exit point from the road area are known by a predetermined route of travel, plans a movement route from the entry point to the exit point across at least one or some resources according to the reservation data currently stored in the storage device. The route of the traffic participant can be described, for example, by navigation data, which indicates that the route of travel leads from the current position across the road area or through the road area to the destination of travel. This also generates an entry point (entrance) and an exit point (exit). The traffic participant then reserves the resources required for this according to the planned route of movement itself by generating its own reservation data in the storage device. By triggering the movement maneuver, at least one resource of the road area is then occupied by the traffic participant in turn according to the reservation data. For example, in the case of an autonomous driving function of a motor vehicle, the triggering of the movement maneuver can be that the trajectory planner of the autopilot receives a control signal so as to form a trajectory of the autonomous driving function according to the planned route of movement. In the case of a human driver or pedestrian, it can be provided that the triggering of the movement maneuver is that the driver or pedestrian receives (for example in a verbal and / or graphical and / or tactile manner) a maneuver command output. Merely by way of example, the movement maneuver can include, for example, driving through a lane and / or turning and / or changing lanes.

[0014] In other words, the road user uses the resources of the road area according to the reservation data entered by him in the memory device, so that he can ensure that other road users are aware of the occupancy of the resources through the reservation data stored in the memory device and that the road users do not interfere with their movement. In a road user in the form of a motor vehicle, the reservation can be implemented, for example, by a control circuit of a controller or a composite composed of controllers. For example, a road user in the form of a pedestrian or a cyclist can carry such a control circuit as an operator, for example as a smartphone or a smartwatch.

[0015] The invention provides the advantage that each road user knows how he must behave in order to coordinate with each other road user in the road area, thereby coordinating or interweaving the planning of the movement routes of all road users in the road area, without having to install a higher-level management unit, such as the RSU mentioned at the beginning, for the road area. The other road users do not have to be directly known, so they do not have to be directly identifiable, which is advantageous for data protection reasons. The other road users can be registered or registered in the storage device as a "unit", but do not need to be identified by their characteristics, and thus, although they can be identified as "vehicle No. 305" for example within the input time period, they cannot be identified by their external characteristics (such as model, color or license plate).

[0016] According to the invention, a data structure is provided as a common storage device, which is synchronized (same content) between traffic participants in the area via a dedicated radio network. Synchronization thus ensures that the data structure becomes identical in content among the synchronized traffic participants. For this purpose, traffic participants can send copies of their locally stored data structures to the respective other traffic participants via the dedicated radio network. In particular, the dedicated radio network can be implemented via so-called V2X communication (V2X-vehicle to any object) or V2V communication (V2V-vehicle to vehicle). The communication can be based on 5G mobile radio technology and / or Wi-Fi technology.

[0017] In order to ensure that, for example, a road participant can identify which is the latest version of the data structure when more than one version of the data structure exists in the road participant (because, for example, a own data structure has been created and a data structure has been received from other road participants), in one embodiment, the data structure includes a blockchain, in which the booking data are added as corresponding new data blocks by the control circuit of the respective road participant. In the case where two road participants simultaneously enter the booking data in their local copies of the data structure and then send it to the other road participants, the data structure can be adapted in the road participants themselves in a manner known to them by means of the blockchain. For this purpose, matching processes known from the prior art for blockchains can be used.

[0018] Because the blockchain mechanism may require a lot of memory and computing power, the on-board computer of the motor vehicle does not need to maintain a database of all networked vehicles. Therefore, although the present concept uses a blockchain system, it is only used within the local transmission radius. Because the surroundings of the vehicle do not have the same intersection with the vehicles 200 meters away, it is not feasible to have only one continuous blockchain. However, it is possible to establish a blockchain that only exists "locally". If the vehicle is located in the area, the vehicle will be related to it. Once the vehicle is outside the area, these vehicles no longer pay attention to the blockchain message, and they will no longer receive the message after leaving the transmission area of ​​the participating vehicles. Because the V2V message (message data 20) can only propagate the distance allowed by the signal strength, the blockchain itself is only applied in the area / region G. When this independent and autonomous communication brings the most advantages, the area where the blockchain is applied is of course the most useful. This is all possible situations where the vehicle paths intersect.

[0019] The invention also includes embodiments that produce additional advantages.

[0020] In one embodiment, one of the following is provided as the corresponding road area: road intersection, roundabout / circular traffic, entrance, exit. In such a road area, multiple roads or lanes meet and the merging road traffic needs to be coordinated. Now, this can take place without the costly installation of additional RSUs.

[0021] In one embodiment, the movement maneuver is the driving of an autonomous motor vehicle. In other words, it is assumed that motor vehicles with autonomous driving functions are coordinated with each other by the method. The advantage is that these motor vehicles can coordinate or coordinate their behavior in the road area or their movement maneuvers (driving maneuvers) in the road area with each other without additional external vehicle devices. In particular, the autonomous motor vehicle is a motor vehicle with a level 3 or higher degree of automation according to the SAE J3016 standard.

[0022] In one embodiment, for the case where the road area is empty, the traffic participants approaching the road area individually generate storage devices dynamically. In other words, whenever the road area is temporarily not used by traffic participants and therefore there is no dedicated radio network and storage device (e.g. blockchain), when necessary, the first traffic participant who uses or approaches the road area after such a period of time automatically initializes or generates a version of the storage device, and when other traffic participants approach, the storage device is notified or provided to the other traffic participants, for example via the dedicated radio network.

[0023] In one embodiment, the corresponding reservation data specify the resource to be reserved and the occupation time period of the resource. In other words, the reservation of the resource is time-limited, i.e. the occupation time period defines the start and end time of the occupation by the corresponding road user who entered the reservation data. This has the advantage that two road users can also be coordinated in time and thus perform driving maneuvers in the same resource one after the other in time, and this can be planned or coordinated.

[0024] In one embodiment, for at least one of the traffic participants, when approaching the road area, predetermined data for the entire movement route are determined. In other words, it is already determined in advance for the traffic participant at the time of entering the road area how the traffic participant behaves in the road area with respect to the stop places and the corresponding points in time (determination of the predetermined movement trajectory, movement path and time course).

[0025] In one embodiment, the reservation data are dynamically entered into the storage device in a plurality of steps in at least one of the road users while the respective road user is in the road area. This advantageously enables re-planning or dynamic adjustments, which allows reactions to events such as traffic accidents or other road user failures.

[0026] In one embodiment, the reservation data is changed and / or supplemented by at least one of the traffic participants for rebooking at least one resource while the respective traffic participant is in the road area. In other words, the traffic participant can change the planned resource occupancy by himself, and any other traffic participant can react to this. In this way, even if new events force the traffic participant to change his movement route plan, coordination with any other traffic participant can still be achieved.

[0027] In one embodiment, as a division rule, a digital road map is used as a basis, in which resources for a road network are defined. In other words, the division rule is given by the map data of the digital road map. In the map data, one or more road areas can be divided into resources respectively. These map data can be called or downloaded by each traffic participant, for example, from at least one server device (for example, a server of the Internet or a computer cloud). For example, an alternative form of the division rule can be a dynamic division by one or more traffic participants. In addition or alternatively, according to another embodiment, it is provided that group data points are given, through which resources have been identified (i.e., directly measured as possible resources by multiple motor vehicles and reported to the server), and / or geographical segments are described in accordance with a GNSS data format (GNSS-Global Navigation Satellite System, such as GPS Global Positioning System), which, for example, define the boundaries of the resources.

[0028] In one embodiment, sub-areas of the road area are predefined as corresponding resources. In other words, such a resource includes a sub-area that forms a part of the road area. As a result, traffic participants can coordinate with each other with respect to their spatial relative positions. Here, the sub-areas together preferably form the entire area of ​​the road area. In this case, in particular, it is divided into at least three or at least four or at least five resources (sub-areas).

[0029] In one embodiment, additionally or alternatively, the share of the total volume permitted in the road area is predefined as the corresponding resource. In other words, the traffic participants can coordinate so that the volume of the traffic noise generated by the joint use of the road area does not exceed the total volume, but remains less than or equal to the total volume.

[0030] In one embodiment, in addition or alternatively, a share of the maximum emissions permitted in the road area is predefined as the corresponding resource. In other words, the road users can be coordinated so that during their use of the road area, the emissions emitted by them remain less than or equal to the value of the maximum emissions. Such emissions can be, for example, carbon dioxide and / or nitrogen oxides.

[0031] According to one aspect, the present invention provides a control circuit for a traffic participant, wherein the control circuit is designed to perform the steps related to the traffic participant of the embodiment of the method according to the present invention. Such a control circuit can be implemented as a controller or a composite of multiple controllers for a motor vehicle, for example in the form described. For example, a control circuit for a traffic participant who participates in road traffic in a road area as a pedestrian or a cyclist can be implemented by a smartphone or a smart watch or a tablet. However, in a motor vehicle, the control circuit can also be implemented in the same way, for example, by a smartphone. The control circuit can have a data processing device or a processor device, which is designed to perform the embodiment of the method according to the present invention. The processor device can have at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (field programmable gate array) and / or at least one DSP (digital signal processor) for this purpose. In addition, the processor device can have a program code, which is designed to implement the embodiment of the method according to the present invention when executed by the processor device. The program code can be stored in a data memory of the processor device.

[0032] According to one aspect, the invention provides a motor vehicle having an embodiment of a control circuit according to the invention. The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular a bus or a truck, or a utility vehicle or a motorcycle.

[0033] The invention also includes implementations which each have a combination of features from a plurality of the described embodiments, unless these are explicitly indicated as alternatives. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The embodiments of the present invention are described below. To this end:

[0035] Figure 1 A schematic diagram shows an embodiment of a motor vehicle according to the invention in a first traffic scenario;

[0036] Figure 2 A sketch is shown to illustrate a possible partitioning rule; and

[0037] Figure 3 A schematic diagram shows an embodiment of a motor vehicle according to the invention in a second traffic scenario, in which a vehicle according to the invention can be used. Figure 2 The division rules. DETAILED DESCRIPTION

[0038] The embodiments described below are preferred embodiments of the present invention. In the embodiments, the described parts of the embodiments represent the features of the present invention that are considered to be independent of each other, and these features also improve the present invention independently of each other. Therefore, the present disclosure should also include combinations different from the shown combinations of the features of the embodiments. In addition, the described embodiments can also be supplemented by other already described features of the present invention.

[0039] In the figures, the same reference numerals respectively denote elements with the same function.

[0040] Figure 1 A road area 10 is shown, which may be a roundabout, through which a plurality of roads 11 are connected to one another. Traffic participants V1, V2, V3 can travel on the road 11, and each of these traffic participants has planned a route 12, which guides the traffic participants through the road area 10. In this example, it is assumed that the traffic participants V1, V2, V3 arrive at the road area 10 close to one another in time, so that their movement maneuvers 13, i.e., for example, the passage or generally the passing of the road area 10, must be coordinated with one another. Here, an entry point 14 and an exit point 15 associated with the road area 10 are generated for each traffic participant V1, V2, V3 via the corresponding route 12. The entry point 14 may be, for example, an entrance, and / or the exit point 15 may be, for example, an exit. Here, within the road area 10, the route 12 should extend on a movement route 16 that enables the passage of the road area 10 without collision.

[0041] In order to determine these movement routes 16 , each motor vehicle V1 , V2 , V3 can have a control circuit 17 , which, as a possible example, can be implemented, for example, by a controller or a combination of controllers or by a smartphone or smartwatch or tablet computer.

[0042] Via corresponding control circuits 17 , movement maneuvers 13 of corresponding road users V1 , V2 , V3 along movement routes 16 can be triggered or started, wherein movement routes 16 are coordinated with one another so that the road users can pass through road area 10 without mutual interference and / or danger.

[0043] For this purpose, in the respective road users V1, V2, V3, the control circuit 17 can be coupled to a communication device 18, by means of which the road users V1, V2 and V3 or, more generally, the control circuits 17 can form a dedicated radio network 19 with one another, by means of which the control circuits 17 can exchange message data 20 of messages. By means of the message data 20, a commonly maintained storage device 21 can be kept synchronized or have the same content in the road users V1, V2, V3. By means of the transmission range of the communication device 18, an area G is generally generated, within which all road users V1, V2, V3 located therein can keep the storage device 21 synchronized with the control circuit 17. If there are no road users in the area G for a while, and then a road user enters the area G, the road user can re-establish or initialize the storage device 21 as the first road user. As the communication device 18, for example, a mobile radio module or a Wi-Fi radio module can be provided. The dedicated radio network 19 can be based on V2X and / or V2V communication, for example.

[0044] The traffic participants V1, V2, V3 can exchange reservation data 22 via the storage device 21. The reservation data 22 can relate to the resources R1, R2, R3 of the road region 10. Figure 1 It is shown how sub-areas or lanes or lane sections of a road region 10 can be provided as resources R1, R2, R3. The division of the road region 10 into resources R1, R2, R3 can be carried out, for example, by means of the map data of a road map of the road region 10 and the roads 11. The road map thus represents a division rule which the traffic participants V1, V2, V3 must comply with or follow when the traffic participants list or specify the resources R1, R2, R3 in the reservation data 22. The reservation data 22 can specify for the respective resource R1, R2, R3 that a particular traffic participant V1, V2, V3 wants to occupy this resource R1, R2, R3 for a predetermined period of time. The other traffic participants V1, V2, V3 are then informed by means of the common storage device 21 when one of the traffic participants V1, V2, V3 will be located in the resource R1, R2, R3.

[0045] The storage device can be a data structure in the form of a blockchain, for example. A traffic participant can add his own booking data 22 as a corresponding data block to the blockchain and then send the updated blockchain as an updated storage device 21 to the remaining traffic participants V1, V2, V3 as part of the message data 20. If two or more traffic participants V1, V2, V3 update and send their locally stored storage devices 21 at the same time, it can be ensured by known logics for comparing stored data or storage contents (for example known from blockchains in the prior art) that all traffic participants V1, V2, V3 have the same data content of the storage device 21 in their control circuits 17.

[0046] For example, the following traffic scenario can be generated for three vehicles in a roundabout, that is, the traffic participants V1, V2, V3 can be motor vehicles or simply vehicles, and the road area 10 can be a roundabout in the described manner. The following is assumed here: vehicle V1 wants to drive in the direction of V3, so the order of resources required is: R1, R2, R3; vehicle V2 wants to drive in the direction of V1, so the order of resources required is: R2, R3, R1; vehicle V3 wants to drive in the direction of V2, so the order of resources required is: R3, R1, R2.

[0047] In general, for the traffic participants V1, V2, V3, a time matrix or resource matrix can be generated, which can be the content of the storage device 21, and in which the allocation of the traffic participants V1, V2, V3 to the corresponding resources R1, R2, R3 is set for the booking data of the individual time slots, which is shown in the following way: each row is assigned to a traffic participant V1, V2, V3, and in the matrix, each column represents a time slot, the start and end time points of which are known for each traffic participant (e.g. 10 second time slots). The time matrix / resource matrix with the booking data 22 is:

[0048]

[0049] Vehicle V2 enters the roundabout at an earlier time / time slot according to the reservation data 22 and requires V3's resources at the time of V3's entry, so vehicle V3 must wait. However, since V1 is then located in resource R2, the driver of V3 will not know when he can enter, since V1 may have already passed the entire roundabout and driven to his starting point. With the blockchain, this waiting process does not exist, i.e. the autonomous driving function can continue its movement route 16.

[0050] Therefore, in order to enable vehicles to follow a simple mechanism "with each other", in which each vehicle is taken into account and each vehicle can follow its route efficiently and safely, a blockchain mechanism is used. Through the information already contained in the blockchain, all participating vehicles know which specific resources are occupied by a vehicle and which resources are free, so they can register for free resources. In this case, the resources are road sections. All vehicles located in the surrounding area receive the blockchain message via V2X messages (message data 20). Through the predetermined rules of the blockchain, all traffic participants know how they behave and how they can occupy resources. With these rules, a new vehicle occupies and describes a new block of the blockchain, and subsequent vehicles receive this information and know which resources they can use based on this. As a result, any vehicle that does not comply with the blockchain rules will only endanger itself, so it is in its own interest to comply with the rules. This consensus mechanism works according to the "life-threatening" system.

[0051] The mechanism works for all possible traffic scenarios where vehicle routes intersect, where the blockchain rules for the specific intersection situation must be known to the traffic participants.

[0052] The result is a mechanism for smooth traffic flow, accident reduction, and generally safe, networked driving in all possible intersection situations. The mechanism operates without a control unit making decisions for the participants, but rather makes these decisions collaboratively.

[0053] Figure 2 and Figure 3 Additional traffic scenarios are illustrated.

[0054] Here, Figure 2 An intersection K is shown as a road region 10 at which four streets 11 meet. Figure 2 A possible division of the intersection K into subareas 23 is described, wherein each subarea represents a resource R1, R2, R3, R4. The division can be predetermined by a division rule 24 which, in the manner described, can be a component of the map data of a digital road map, for example.

[0055] Figure 3 It is described how the road users V1, V2, V3, V4 can coordinate their movement routes 16 in time and place in the intersection K via the dedicated radio network 19 with the aid of a division rule 24. In the described manner, the road users V1, V2, V3, V4 can exchange, for example, a blockchain as a jointly maintained storage device 21 via the dedicated radio network 19, in which booking data 22 can be stored.

[0056] for Figure 3The traffic scenario shown adopts the following assumptions as an example: traffic participants V1, V2, V3, V4 can be motor vehicles or simply vehicles, and the road area 10 can be an intersection K in the described manner, and here, vehicle V1 requires resource R1 according to the route planned by it; vehicle V2 wants to turn right and requires resource R2; vehicle V3 wants to go straight, and the order of resources required is: R3, R4; vehicle V4 wants to go straight, and the order of resources required is: R1, R2. This results in the following time matrix / resource matrix:

[0057]

[0058] Vehicle V4 enters the intersection at a later point in time according to these reservation data 22, during which the other three vehicles carry out their maneuvers. The driver of vehicle V4 / control circuit 17 of the automatic driving function knows through the blockchain of the storage device 21 that the vehicle can easily carry out its movement maneuver and that no vehicle in the intersection will need the same resources / cross the path as it at the same time, i.e. the traffic remains smooth.

[0059] Because the blockchain mechanism may require a lot of memory and computing power, the on-board computer of the motor vehicle may not need to maintain a database of all connected vehicles. Therefore, although the concept uses the blockchain system, it is only used within the local transmission radius. Because the surroundings of a vehicle do not have the same intersection with the vehicles 200 meters away, a single continuous blockchain is impossible. However, it is possible to establish a blockchain that only exists "locally". If the vehicle is located in this area, the vehicle will be associated with it. Once the vehicle is outside the area, the vehicle no longer pays attention to the blockchain message, and the vehicle will no longer receive the message after leaving the transmission area of ​​the participating vehicles. Because the V2V message (message data 20) can only travel the distance allowed by the signal strength, the blockchain itself is only used in the area / region G. When this independent and autonomous communication brings the most advantages, the area where the blockchain is applied is of course the most useful. This is all possible situations where the vehicle paths intersect.

[0060] However, the mechanism can also be extended to other traffic participants, such as pedestrians, cyclists and motorcycles, as long as they have devices that process V2X messages in the same way.

[0061] This concept can be implemented using available technology. The local blockchain (usually the storage device 21) relates to only one intersection. Therefore, two intersections on a road that are 500 m apart preferably each have their own local blockchain. Therefore, a vehicle driving through the first intersection participates in the blockchain of the first intersection. After the vehicle passes the first intersection, the vehicle ignores these messages, receives messages from the second intersection with a second blockchain that complies with other rules, and participates in this blockchain in order to drive through the second intersection.

[0062] In summary, the example shows how to provide a coordinated allocation of resources for executing a driving maneuver.

Claims

1. A method for the coordinated allocation of resources for carrying out a movement maneuver (13) in at least one predetermined road area (10), wherein: The road region (10) is divided into a plurality of resources (R1, R2, R3, R4) by means of a predetermined division rule (24), a storage device (21) for reservation data (22) is provided, the reservation data being used for the specific reservation of the corresponding resource (R1, R2, R3, R4), the storage device being accessible to each traffic participant (V1, V2, V3, V4) located in a predetermined area (G) comprising the road region (10), A control circuit (17) of a corresponding traffic participant (V1, V2, V3, V4) approaching a road area (10) and / or located in the road area (10) plans a movement route (16) from an entry point (14) to an exit point (15) on at least one or some resources (R1, R2, R3, R4) based on reservation data (22) currently stored in a storage device (21), and plans a movement route (16) from an entry point (14) to an exit point (15) based on the planned movement route (16) by generating its own reservation data (22) in the storage device (21). The resources (R1, R2, R3, R4) required for this are ordered and at least one resource (R1, R2, R3, R4) of a road area (10) is occupied sequentially in time by traffic participants (V1, V2, V3, V4) by means of a triggering movement maneuver (13) according to ordering data (22), wherein in the road area, an entry point (14) required for entering the road area (10) and an exit point (15) required for leaving the road area (10) are known via a predetermined travel route (12), It is characterized in that A data structure is provided as a common storage device (21), which is synchronized between traffic participants (V1, V2, V3, V4) in the region (G) via a dedicated radio network (19), wherein, in the case of a road region (10) being empty, the traffic participants (V1, V2, V3, V4) approaching the road region (10) individually generate the storage device (21) dynamically, wherein the data structure includes a blockchain in which the reservation data (22) are stored by the corresponding traffic participants (V1, V2, V3, V4) V2, V3, V4) is added as a corresponding new data block, wherein the blockchain itself is only used in the area (G) when the traffic participant (V1, V2, V3, V4) is located in the area (G), in such a way that once the traffic participant (V1, V2, V3, V4) is outside the area (G), the traffic participant (V1, V2, V3, V4) no longer pays attention to the blockchain message and the traffic participant no longer receives the blockchain message after leaving the sending area of ​​the participating vehicles.

2. The method according to claim 1, wherein: The corresponding reservation data (22) specifies the resources (R1, R2, R3, R4) to be reserved and the occupation time period of the resources (R1, R2, R3, R4).

3. A method according to any one of the preceding claims, wherein: Booking data (22) for the entire movement route (16) are determined by at least one of the road users (V1, V2, V3, V4) when approaching a road area (10).

4. A method according to any one of the preceding claims, wherein: Booking data (22) are dynamically entered into a storage device (21) in a plurality of steps by at least one of the road users (V1, V2, V3, V4) while the respective road users (V1, V2, V3, V4) are in the road area (10).

5. A method according to any one of the preceding claims, wherein: Reservation data (22) are changed and / or supplemented by at least one of the traffic participants (V1, V2, V3, V4) for reserving at least one resource (R1, R2, R3, R4) while the corresponding traffic participants (V1, V2, V3, V4) are in the road area.

6. A method according to any one of the preceding claims, wherein: As the partition rule (24), a) using as a basis a digital road map in which the resources (R1, R2, R3, R4) for the road network are defined, and / or b) giving a group data point by which the resource is identified, and / or c) Describe the geographical segment according to the GNSS data format.

7. A method according to any one of the preceding claims, wherein: A sub-area (23) of a road area (10) is predefined as a corresponding resource (R1, R2, R3, R4).

8. A method according to any one of the preceding claims, wherein: A proportion of the total volume permitted in a road area (10) is predefined as a respective resource (R1, R2, R3, R4).

9. A method according to any one of the preceding claims, wherein: A proportion of a maximum permissible emission quantity in a road area (10) is predefined as a corresponding resource (R1, R2, R3, R4).

10. A control circuit (17) for a traffic participant (V1, V2, V3, V4), wherein: The control circuit (17) is designed to carry out the steps of the method according to any of the preceding claims which are dependent on the road users (V1, V2, V3, V4).

11. A motor vehicle having a control circuit (17) according to claim 10.

Images