Method and communication system for communication between traffic participants

Abstract

A method for communicating between traffic participants (5a, 5b, 5c, 5d, 5e) in a traffic scenario, the traffic participants comprising at least one motor vehicle (8, 9), each traffic participant (5a, 5b, 5c, 5d, 5e) having a communication device (4a, 4b, 4c, 4d, 4e) which, using a communication channel (2), periodically transmits basic information comprising the position and at least one operating parameter of the traffic participant (5a, 5b, 5c, 5d, 5e), in order to form a communication group associated with an application case, in particular a movement action, the traffic participant (5a) planning to execute the application case , 5b, 5c, 5d, 5e) sends an inquiry message via a communication channel (2), wherein, in the event of a reply message from at least one other traffic participant (5a, 5b, 5c, 5d, 5e) who also plans and / or executes the application, a communication group is established with the other traffic participant, wherein at least one member of the communication group periodically sends a group status message as a communication leader on behalf of all members via the communication channel (2), the group status message describing the members as a common object with identity information that executes the application, so that additional messages sent to the object with identity information are received and evaluated by all members.

Description

Technical Field

[0001] The present invention relates to a method for communication between traffic participants in a traffic scenario, the traffic participants including at least one motor vehicle, wherein each traffic participant has a communication device that periodically transmits basic information including the position of the traffic participant and at least one operating parameter using a communication channel. The present invention also relates to a communication system. Background Art

[0002] Communication technology is becoming increasingly important in road traffic. Wireless communication concepts that are intended for use in road traffic are often summarized as "vehicle-to-x" (V2X) communication. In such communication systems, a number of, ideally all, traffic participants are configured with suitable communication devices to utilize a common communication channel. Through this communication channel, each traffic participant, using their communication devices, transmits basic information to all other traffic participants at regular intervals, i.e., periodically. This basic information may include, in particular, the location of the transmitting traffic participant, a possibly temporary identification, and other operating parameters of the transmitting traffic participant, ultimately creating an ideally most complete road traffic image of their surroundings for the receiving traffic participant. Concepts for providing this basic information have already been proposed in the prior art, such as the use of so-called Basic Safety Messages (BSMs), Collaborative Awareness Messages (CAMs), and / or Decentralized Environment Notification Messages (DENMs). The communication channel is typically implemented via a WLAN or mobile communication network.

[0003] In addition to the ability to coordinate the driving maneuvers of different road users, the primary goal of V2X technology is to improve traffic safety and traffic flow, particularly to reduce the accident rate. However, the amount of communication information that can be transmitted via the communication channel, i.e., the V2X air interface, is limited by bandwidth and frequency. This also takes into account possible quality limitations, which can be measured, for example, by BLER (block error rate) or PER (packet error rate). According to the conventional functional principle of V2X technology, periodic basic information is transmitted by appropriately equipped road users via a limited bandwidth (e.g., every 10 ms), resulting in a large number of messages. Furthermore, if additional functions and applications are to be implemented, such as coordinated parking procedures, there is a concern about additional loading on the available communication bandwidth. In other words, there is a risk of overloading the communication channel, which also increases the complexity of the road user algorithms required to evaluate the received communication information.

[0004] DE 10 2014 215 690 A1 proposes a device and method for avoiding message conflicts in vehicle-to-vehicle communication, wherein the data rate or message transmission frequency is adjusted according to the current communication. Furthermore, in the prior art, concepts for forming so-called "platoons" or platoons are already known, in which vehicles or traffic participants (particularly controlled by a leading vehicle) travel together in a coordinated manner within a specific time period. For example, EP 3 651 533 A1 describes the joint use of emergency avoidance trajectories, EP 3 528 078 A1 relates to a platoon control system for intersections, and DE 10 2018 216 082 A1 describes a method for collaborative maneuver coordination, in which plan levels are implemented in a cascaded manner, and when implementing each plan level, information is exchanged with adjacent vehicles to determine conflicts. In the event of a determined conflict in at least one plan level, maneuver coordination between the vehicles is performed via a communication connection. DE 10 2010 013647 A1 relates to a platoon in which a leading vehicle forwards a commanded vehicle position to the other vehicles.

[0005] This V2X communication technology is even more important for fully automated (autonomous) operation of vehicles, as additional information can improve overall safety. DE 10 2010 056438 A1 describes a concept in which platooning is to be enabled in closed settlements or in cities by having the vehicles' environmental sensors receive appropriate information.

[0006] However, most functions or application scenarios for coordinating the operation of traffic participants use communication schemes that require more than simple broadcast messages, such as basic information. For example, in convoy scenarios, specific additional communication information is exchanged. Due to the continuously growing number of application scenarios, there is a risk of overloading the existing bandwidth for V2X messages. However, there are other problems in this regard. Therefore, the possibility of coordinated operation for multiple traffic participants is, for example, limited to the same traffic participant category, such as motor vehicles, so that other traffic participants who are particularly at risk, such as pedestrians or cyclists, are excluded and cannot benefit from these advantages. Another problem is that, for various reasons, not every traffic participant can or wants to participate in such a convoy. In certain application scenarios, only a lower level of safety is provided for such traffic participants, but at the same time an increased communication activity is required, since they must individually communicate their future plans and intentions. Summary of the Invention

[0007] The object of the present invention is therefore to simplify V2X communication, in particular to reduce the number of messages required on a communication channel, and to generally increase the safety of road users, in particular those who cannot participate in a convoy.

[0008] In order to achieve this object, according to the present invention, in a method of the above type, it is provided that, in order to form a communication group associated with an application scenario, in particular a movement action, a traffic participant who plans to execute the application scenario sends an inquiry message via a communication channel, wherein, in the event of a reply message from at least one other traffic participant who also plans and / or executes the application scenario, a communication group is established with the other traffic participant, wherein at least one member of the communication group, on behalf of all members, as the communication leader, periodically sends a group status message via the communication channel, wherein the group status message uses identity information to describe the members as a common object that executes the application scenario, so that additional messages sent to the object with identity information are received and evaluated by all members.

[0009] In this context, it is particularly advantageous if the group status message can include extent information which describes the extent of the object as a geometric shape covering all group members.

[0010] The present invention therefore proposes the formation of spontaneous, only short-lived, and / or rapidly changeable groups in order to simplify V2X communication and, ideally, also to increase the safety of the participating group members. Thus, a temporary communication group is formed of group members who wish to carry out a specific application, in particular a specific movement, wherein the communication group and the information obtained thereby are particularly preferably completely independent of any coordinated measures for this application, and in particular, such measures are neither required nor foreseen. The communication group receives clear identification information so that, for example, communication information to all traffic participants who wish to carry out an application only needs to be sent once to the communication group, wherein, in particular, the identification information can be selected such that only members of the communication group can decrypt the corresponding communication messages sent to the communication group. Such V2X communication technologies have already been proposed in the prior art, with reference being made purely to the 3GPP standard for purely exemplary purposes. On the other hand, as previously required, all road users executing an application do not need to send their own messages, i.e., they execute the application, as it is completely sufficient for the person in charge of communication to do so. It is particularly advantageous here to indicate the extent of the object formed by the group members so that each group member can be appropriately perceived and taken into account. This reduces the amount of communication information to be sent via the communication channel, which can correspond to the 5G standard, for example.

[0011] In this context, the term "communication leader" should not be understood to mean the lead vehicle, etc., as the communication group serves only as a reachable object in the communication system, defined by the group status messages. This approach achieves advantages in terms of communication channel utilization and safety without requiring additional team members, as communication devices and associated road users with shorter ranges are also indicated by the group status messages and, when using extended range information, can ultimately move together, i.e., in the "shadow" of other road users.

[0012] Another advantage of forming a temporary communication group within the scope of the present invention is that different types of traffic participants can join the communication group, which is not possible, for example, in a convoy with a targeted application scenario. In addition, the method according to the invention contributes to the traffic flow. It has been recognized that in many traffic environments or traffic scenes, traffic participants often perform the same movement action in sequence, wherein, for communication, an entire object for such traffic participants can be formed by the communication group, which significantly simplifies the relevant communication and therefore also significantly simplifies the consideration of the traffic participants performing the application scenario. For example, the communication group in the group status message can be represented as an object with a width of 3m and a length of 15m, wherein, within this object, the extended range information (which of course can also describe the object shape and thus the group shape) can indicate, for example, the presence of two cyclists, a motor vehicle and a motorcycle as group members, which have the same intention and therefore, for example, plan the same movement action or are already performing a movement action.

[0013] It is particularly advantageous to determine the communication leader without further message exchange based on selection criteria that only evaluate at least a portion of the basic information. For example, it can be specifically provided that the group member, particularly a vehicle, that provides the greatest computing power for the communication function and / or has the greatest quality and / or range and / or is fully automated and / or has the greatest communication range is selected as the communication leader. In other words, in particular, a road user, particularly a vehicle that is better equipped with communication devices and / or other features than other group members can be considered as the communication leader, as described by the selection criteria. It is particularly advantageous to select the communication leader as the one with the strongest antenna and / or the best transmission power and / or the highest transmission rate and / or the greatest transmission accuracy, as this allows the other group members to benefit from these improved communication characteristics. This is particularly applicable to so-called vulnerable road users (VRUs), who, for example, often use mobile devices as one or more communication devices. Such mobile devices can be, for example, mobile phones, particularly smartphones. Such mobile devices, or communication devices formed by mobile devices, often have a low transmitter range and / or transmission accuracy. Since such a group member is represented by the communication leader with significantly improved equipment, such a "weaker" group member can also use this equipment. For example, a road user at a distance who is not yet able to receive communication information from a group member, such as a pedestrian or cyclist, is already aware of this "weaker" group member when a group status message is sent (especially when the group status message contains extended range information), thereby increasing the safety of such a group member. In this sense, for example, the VRU also moves "in the shadow" of a better-equipped and / or larger road user and is implicitly protected by it.

[0014] While it is preferred according to the present invention that each group member independently draws a conclusion about who is the communication leader based on selection criteria, based on the basic information available for each communication device, a design is also conceivable in which the selection of the communication leader is confirmed by other group members, particularly by means of a confirmation message via the communication channel. For example, within the context of a first group status message and / or as a targeted communication leader message, the communication leader can apply to become the communication leader based on at least one selection criterion, and the other group members can briefly confirm this. If the other group members disagree, they can also leave the communication group.

[0015] In a particularly advantageous embodiment of the present invention, a control device associated with and / or assigned to a communication device, the communication manager, can determine at least a portion of the content of a group status message, particularly the scope information, specifically regarding communication, solely from basic information about the group members. In other words, within the scope of the present invention, the basic information, which is still regularly transmitted by the various group members, is preferably sufficient to determine all the contents of the group status message, which describes the communication group beyond identity information and the application, and which the communication manager (and, if necessary, other group members) can derive from this basic information. Thus, the communication manager can, in particular, monitor the current position or movement of the group members in order to continuously provide current scope information describing the position and geometry of the resulting objects (which particularly also includes the object shape / group shape). Consequently, no additional messages via the communication channel are required for the group status message and its determination. However, it may be expedient to utilize sensor data from at least one environmental sensor of the communication manager, particularly for plausibility checks and / or refinement (calibration). In other words, the communication manager passively observes what the group members are doing and, in particular, adjusts the group status message accordingly. As explained more precisely below, the communication group is preferably not controlled or directed by the communication manager in any respect, in particular in terms of the application, which means that each group member can further decide for itself at any time how it operates, whether automatically and / or by appropriate personnel.

[0016] However, since it is possible that a member may decide not to execute an application, in particular a movement, without explicitly leaving the communication group, a suitable embodiment of the present invention may provide that the control device is further configured to adapt the member's basic information to the application, wherein if the adaptation result indicates that the member did not execute the application, the member is removed from the communication group. In other words, the communication leader can also serve as a monitoring mechanism. The removal of a member in this manner can be announced at least to the other members via a corresponding removal message.

[0017] However, it can also generally be provided that at least one member, particularly after executing an application scenario, leaves the communication group via a leave message, and / or at least one traffic participant joins the communication group via a reply message based on a group status message. This means that if a first member has completed an application scenario, particularly a motor action, and therefore leaves the communication group, or if another traffic participant who wishes to execute an application scenario enters after being able to detect the existence of the communication group based on the group status message and to send a corresponding reply message, the group can have a composition that changes over time, particularly in busy locations, such as intersections with heavy traffic. Preferably, at least one selection criterion can be reevaluated with each change in the group composition, particularly when the person in charge of communication leaves. This allows, for example, the traffic participant currently having the greatest transmitter range or similar criteria to be selected as the person in charge of communication.

[0018] However, it should be noted that in many traffic scenarios, a communication group exists for only a very short time, because, for example, there may not always be a traffic user in a specific situation, such as an intersection, who wants to turn left, go straight, and / or perform other maneuvers. However, this short duration is the core of the inventive concept, because without significant communication overhead, flexible, temporary, local communication groups can be formed for the application, significantly reducing the load on the communication channels and also significantly increasing safety for the group members.

[0019] As described above, within the scope of the present invention, it is particularly advantageous to provide that each team member controls the execution of an application independently of the other team members, in particular without intra-team communication. This means that the formation and provision of a communication group is a self-contained, integrated function that is independent of other functions, in particular with respect to the application. This integrated function does not impose any obligations or regulations on the team members with respect to the application, and in particular does not serve as a basis for other coordinated execution of the fleet or application. However, it can be used, if necessary, to agree on the use of separate functions, for example by correspondingly querying the targeted communication group.

[0020] It is also important to note that, with respect to group status messages, no intra-group communication within the communication group is necessary, since the group status messages can ideally be derived from the basic information, as described above. In other words, for example, the communication manager can track how the group members move and / or how they perform their applications based on the basic information and knowledge of which road users are members of the group.

[0021] However, group status messages can also be used to advantage in separate, coordinated functions involving multiple road users. For example, vehicles turning as a platoon can, based on the communication group and its group status messages, take into account intersecting through traffic when planning their trajectories. This also applies to individual road users.

[0022] It is entirely conceivable within the scope of the present invention to coordinate the execution of application scenarios for at least some of the group members in an additional function that is separate from the formation and use of the communication group, in particular when using a separate communication channel. For example, a query can be made to the communication group as the target to implement this coordination function, and then a separate query can be made within the coordination group for the members who have joined the coordination group.

[0023] In summary, communication groups can be created based on basic information periodically transmitted by traffic participants, without requiring additional communication information from group members and without requiring lengthy communication steps. For example, a communication group can be formed when traffic participants, particularly vehicles, with well-designed communication systems, particularly those with high transmitter range and transmission quality, wish to implement an application and, so to speak, suggest to surrounding networked traffic participants that they "drive together." This offers the advantage of increased safety for particularly vulnerable traffic participants (VRUs) with weaker communication systems and / or those who are vulnerable, and reduces the amount of communication required via the communication channel. Traffic participants are grouped in this manner without requiring additional functionality. Communication groups are not controlled or directed in any way by vehicles or infrastructure components (e.g., traffic lights), and the distances, speeds, and other factors between traffic participants are not affected by this purely communication function but can be freely selected by each group member.

[0024] At the beginning of the method, as described above, a traffic participant planning an application sends a query message via a communication channel. The query message at least describes the application, but ideally also contains additional information, such as the location of the query (e.g., intersection, etc.), speed, trajectory, start time, and / or further query information that is useful in deciding whether to join the group.

[0025] In this case, a particularly advantageous embodiment of the present invention provides for sending a query message when a query criterion is met. The query criterion specifically checks whether the number of road users within a predetermined range / radius around the road user being checked, as determined based on the received basic information, exceeds a threshold. While the query message obviously presupposes the planned execution of the application, other query criteria can also be checked. Such query criteria can, for example, relate to the road user being questioned. Thus, for example, only road users who have a well-equipped communication device, particularly with respect to transmitter range, and / or a sufficient range, will send a query message, thereby ultimately providing a proposal for increased safety / range. It is also possible for "weaker" road users, such as VRUs, to send a targeted query message in order to, so to speak, receive support. This can also be manually triggered by a road user, such as a pedestrian or cyclist, via an application, such as an app, available on the mobile device of the communication device. It should also be noted that, in general, the method according to the present invention, in particular the creation and use of a communication group, is automatically performed, in particular by the corresponding communication device or its control unit.

[0026] Another type of query criterion can also relate to the traffic scenario and, in particular, is intended to check whether there is a sufficiently high probability for forming a communication group. For this purpose, the received basic information can be evaluated, for example, taking traffic density into account and comparing it with a threshold value. In other words, a traffic participant planning an application, particularly a specific movement maneuver, can determine based on the density of the basic information whether there are many traffic participants in their vicinity. If at least one query criterion is met, a query message is sent to all traffic participants.

[0027] The road user who has received the inquiry message via his communication device and has also planned the application and, if necessary, determined a match by evaluating further inquiry messages, can now decide whether he wants to join the communication group. If the decision is "join", this decision is announced via a corresponding reply message, thus establishing the communication group.

[0028] Next, as described above, a communication leader is determined, and the communication group appears as an object. Therefore, when the group members ultimately jointly perform an application scenario, particularly a motor movement, only the communication device of one of the group members, the communication leader, will periodically send group status messages, while all group members will continue to periodically send their basic information, thus appearing as separate objects. The communication leader can, of course, evaluate the corresponding basic information accordingly, as he or she knows the group members, for example, to determine extended range information. After the application scenario has been successfully executed, the communication group can be separated accordingly, and the road users can proceed to their own routes.

[0029] In this context, it should also be noted with regard to particularly vulnerable road users, namely VRUs, that the safety of the members of the communication group is increased by their personal presence (periodic transmission of basic information) being ultimately reinforced by regular group status messages.

[0030] For example, the application scenario can be selected from the following application scenarios: driving through a roundabout to a specific exit, going straight at an intersection, turning left, turning right, changing lanes to the left, changing lanes to the right, exiting a motorway, entering a motorway, and crossing a road. In addition, a plurality of other application scenarios, in particular movement actions, are of course also possible. The application scenarios to which the present method can be applied can, for example, be appropriately coded for the communication device and stored in a database in a queryable manner. Thus, for example, an application scenario number can be assigned to each application scenario, so that, for example, a query message can be asking whether other traffic participants also want to execute application scenario number 25 (for example, driving straight through an intersection). As described above, the query message suitably contains additional query information, which, for example, the trajectory planned by the inquiring traffic participant, the speed, the location involved in the query, the start time, etc., makes it easier for other traffic participants to decide whether to join a group.

[0031] While any communication channel or communication network can ultimately be used within the scope of the present invention, the 3GPP standard is particularly preferably used. The basic information may be a BSM and / or a CAM, as described above, and / or may be sent every 5 to 20 ms, for example, every 10 ms. For example, a 5G communication network may be used as the communication network providing the communication channel.

[0032] Finally, it should be noted again that it is ultimately important and particularly advantageous for the present invention that no infrastructure components or higher-level vehicles exercise authority over the communication group, as would be the case with a lead vehicle in a convoy. Because the communication group serves as a common identifier and not as a means of assuming responsibility, each member of the group independently determines and defines their movement parameters, such as speed, distance, etc. The traffic participant who sends the inquiry message or acts as the communication leader is not held responsible.

[0033] A first conceivable example is a traffic scenario in which a jogger, several cyclists, and an electric scooter driver want to cross the road together. In this first example, the electric scooter's communication device asks the surrounding networked traffic participants whether they also want to drive straight ahead / pass the next upcoming intersection at a specific time, without traffic lights being activated. The jogger and the cyclists respond positively to the query with a reply message. They coordinate as a communication group, and the electric scooter (or more precisely, its communication device) assumes responsibility for sending group status messages. The group members then perform a motor action, after which the communication group disbands, with the jogger, for example, continuing straight ahead while one of the cyclists turns left at the next intersection.

[0034] In the second example, a bus, a car, and a motorcyclist all make a left turn. The bus sends a query message to surrounding road users, asking if they wish to turn left at the next intersection at a specific time. The car and motorcycle respond positively to the query message with a reply message. They form a communication group, and the motorcyclist's communication device periodically transmits group status messages. Once all road users have completed the "left turn" application scenario, the communication group disbands.

[0035] If, for example, in the first embodiment, a motor vehicle wishes to turn right, where a jogger, a cyclist, and an electric scooter are crossing the road, it will also receive, in particular, range information from the group status message, which informs it of the coverage area of ​​the communication group in question, so that it can take this coverage area into account accordingly. However, the motor vehicle can also locate the communication group and, for example, indicate that it is approaching from behind and intends to turn there, so that, for example, a warning can be output to each member of the group that can receive and decrypt the communication information. In particular, in this example, it is also possible to communicate this to the jogger and cyclist, even though their transmitter range is generally limited, since the electric scooter has a greater transmitter range, and the other members of the group are informed, as it were, when their transmitter range has been exceeded.

[0036] In addition to the method, the present invention also relates to a communication system comprising communication devices of multiple road users, which are designed to carry out the method according to the present invention. In other words, at least one communication device is designed to send a query message via a communication channel, multiple, in particular all, communication devices (or their control devices) are designed to evaluate the query message and send a reply message when joining a communication group, and at least one of the communication devices is also designed to assume the role of communication leader. All embodiments of the method according to the present invention can be transferred to the communication system according to the present invention, so that the advantages already mentioned can also be achieved with this communication system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Further advantages and details of the present invention are apparent from the exemplary embodiments described below and with reference to the accompanying drawings.

[0038] Figure 1 shows a general flow chart of an embodiment of the method according to the present invention,

[0039] Figure 2 shows a schematic diagram of the communication system,

[0040] Figure 3 A schematic diagram of a traffic scenario is shown. DETAILED DESCRIPTION

[0041] Figure 1 A general flow chart of an embodiment of the method according to the present invention is shown. The method takes place within the scope of vehicle-to-X communication (V2X communication), in which the communication devices of different road users use a common communication channel, for example in a 5G communication network, to exchange communication information. Each road user, or more precisely, each road user's communication device, periodically transmits basic information, for example as or including a BSM and / or CAM, according to a continuous step S1. The basic information includes at least one, particularly temporary, identification information / identification information of the road user and his or her current position, but typically also includes various other operating parameters, such as the speed of the road user. The operating parameters can of course also describe characteristics of the road user, such as the type of road user, equipment, etc., as well as intended actions.

[0042] In step S2, one of the traffic participants determines that an application scenario, here a motoring maneuver, is planned. Examples of such applications include lane changes, turns, crossings, and highway entry / exit maneuvers. In step S3, a query criterion is checked to determine whether sufficient basic information has been received from a predetermined area around the traffic participant for the traffic density to exceed a threshold. If not, the traffic participant simply continues with the application scenario. However, if at least one query criterion is met in step S3, a query message is sent via a communication channel in step S4. In addition to the identity of the traffic participant being queried, the query message includes application scenario information describing the motoring maneuver, such as application scenario identification information from a database, as well as additional query information, particularly the location of the application scenario (e.g., "next intersection") and, if necessary, the estimated start time of the application scenario. The query message may also contain additional query information, such as the current speed of the traffic participant and the planned trajectory.

[0043] In step S5, the traffic participants who received the inquiry message check whether they wish to join the communication group based on the application scenario. This is usually the case if the traffic participants also wish to perform the application scenario (here, a movement action) at the corresponding location within the relevant time period. This can be represented, for example, by a joining criterion. If at least one joining criterion is met (which can, for example, be evaluated in the corresponding communication device or an associated / included control unit), the traffic participants who wish to join the communication group, here multiple traffic participants (specifically, their communication devices), send a reply message in step S6. As indicated by the arrows toward step S7, a communication group is established in step S7, comprising the inquiring traffic participant and the traffic participant who sent the reply message. To this end, the mechanisms of the underlying communication protocol, such as those based on the 3GPP standard, are used to establish communication groups so that communication information transmitted to these communication groups can only be decrypted and evaluated by their members. Of course, other mechanisms are also conceivable. In this context, it should be noted that in a preferred embodiment, apart from leave messages and / or group disbanding messages, no further intra-group communications are provided, so that the creation of a communication group and its use occupy virtually no communication bandwidth.

[0044] In step S8, each team member evaluates the basic information of all team members in order to determine which member should be the communication leader of the communication group based on the selection criteria. If the same selection criteria are used, each team member should reach the same result, so in principle, no additional communication is required in this regard. However, an embodiment may provide that the team member determined to be the communication leader announces this through a confirmation query, wherein the other team members can confirm this or, if this is undesirable, can revoke it.

[0045] In this case, at least one selection criterion is particularly intended to select the road user who is best equipped with a communication device as the communication responsible person. In this case, in particular, the transmitter range can be primarily evaluated, but also the transmission quality.

[0046] According to step S9, the communication leader then begins periodically sending group status messages. These messages describe the identity information used to identify the group as a separate object in communications. These messages also describe the application and contain information about the scope of the communication group, meaning a geometric area encompassing all members of the communication group. In simple cases, this scope can be rectangular and defined as a rectangle encompassing all group members, but it is also preferred to specify an object or group shape. The scope information of the communication group, and optionally additional status information (which should be sent in the group status messages), is determined by the communication leader—specifically, its communication device or a control unit assigned to it—with respect to V2X communication, solely from basic information. This basic information is sufficient because, in addition to the current position of the respective road users, it also at least implicitly describes the scope of each road user, for example, to generally enable collision detection.

[0047] In this case, it should also be noted that the communication leader (or another team member) can also monitor the behavior of other team members at any time based on the basic information and, in particular, check the plausibility of the application scenarios being implemented. Thus, the movements of team members described by the basic information can be adapted to the application scenarios, and if the adaptation results indicate that the application scenarios are not being implemented, the team member can be excluded from the communication group.

[0048] In all these evaluations, preferably no further intra-group communication takes place within the communication group, since the basic information is sufficient for this purpose. If necessary, this basic information can also be supplemented with sensor data from the environmental sensors of the communication responsible party.

[0049] During all of these steps, as indicated by step S10, the group members carry out their respective desired movements, particularly their applications, completely independently of the existence of the communication group. This means that no group member is coordinated or configured as a leader with the aid of the communication group. Nor does the communication group include any infrastructure for doing so. In other words, participation in the communication group has no impact on the guidance or control of the respective road users or their movements. Therefore, the formation and use of the communication group is a purely communication function and is not used for coordination, particularly not for coordination in the context of a convoy.

[0050] However, the existence of a communication group can be used, for example, to form a convoy, after corresponding inquiries can be sent to the communication group and the group members can agree to participate in the convoy in individual functions. Generally speaking, however, the formation and use of a communication group also allows other road users to communicate with all group members using a single message, for example, to send a conflict message if another road user's route conflicts with an application. In other words, it is not necessary for each group member to individually announce the application they are executing and for other road users to individually address each group member regarding that application. Instead, a single message, namely the group status message from the communication group, is sufficient.

[0051] This is schematically illustrated in detail by steps S11 and S12, whereby, in particular, using the identity information of the communication group, traffic participants outside the communication group send communication information to the communication group using the communication channel, which communication information is decrypted by all group members in step S12 and can therefore be understood and evaluated.

[0052] If all group members have executed the application scenario, the group can be dissolved again in step S13 .

[0053] Figure 2 A communication system 1 according to the present invention is schematically shown, utilizing a communication channel 2, shown only schematically here, within a communication network 3, such as a 5G communication network. Communication system 1 includes communication devices 4a, 4b, 4c, 4d, and 4e, each assigned to a corresponding road user 5a, 5b, 5c, 5d, and 5e, shown only schematically. For example, road user 5a is a first-type motor vehicle, such as a passenger car, and road user 5b is a second-type motor vehicle, such as a bus or commercial vehicle. Motor vehicles typically have communication devices 4a and 4b that are well-equipped for transmitter range and transmission quality. Communication devices 4c and 4d are implemented as part of a mobile device 6, such as a smartphone, carried by road user 5c, such as a pedestrian, and road user 5d, such as a cyclist. These road users 5c and 5d are considered vulnerable road users (VRUs). As another example, road user 5e is a motorized two-wheeled vehicle, such as a motorcycle or scooter. Of course, other road users are also conceivable. The number of road users 5a, 5b, 5c, 5d, and 5e is also unlimited, as indicated by the corresponding consecutive dots. The communication devices 4a, 4b, 4c, 4d, and 4e are designed to carry out the method according to the present invention, wherein at least one of the communication devices 4a, 4b, 4c, 4d, and 4e is configured to perform the query, and similarly, at least one of the communication devices 4a, 4b, 4c, 4d, and 4e is configured to perform the responsible communication. However, all communication devices 4a, 4b, 4c, 4d, and 4e can receive and evaluate query messages and, if necessary, send reply messages.

[0054] Figure 3 The traffic scene at an intersection 7 is shown as an example. In this case, two motor vehicles 8 and 9, two pedestrians 10 and 11, three cyclists 12, 13, and 14, and a scooter 15 are shown as traffic participants 5a, 5b, 5c, 5d, and 5e. Scooter 15 is currently the communication leader of a communication group, which also includes pedestrians 10 and 11 and cyclists 12 and 13, as they all want to cross the road 16 in a straight line (application case = movement action). The corresponding group status information also includes extension information, which is indicated by a dashed box 17. For example, in the current case, the evaluation information may describe a rectangle with a length of 15 meters and a width of 3 meters, which contains all traffic participants 10, 11, 12, 13, and 15.

[0055] The group status message is now received by other road users 8, 9, and 14, the paths of road users 9 and 14 being irrelevant / unrelated to the application. However, as indicated by symbol 18, motor vehicle 8 intends to turn right onto road 16 and can therefore take the group status message, in particular the extended range information, into account accordingly. It can also use the identity information to locate the communication group, for example, to alert them of its intention. It is particularly important to note that motor vehicle 8 is outside the communication range of pedestrians 10 and 11, but these pedestrians are still taken into account because the transmitter range of scooter 15 is sufficiently large.

Claims

1. A method for communicating between traffic participants (5a, 5b, 5c, 5d, 5e) in a traffic scenario, the traffic participants comprising at least one motor vehicle (8, 9), wherein: Each road participant (5a, 5b, 5c, 5d, 5e) has a communication device (4a, 4b, 4c, 4d, 4e) which, using a communication channel (2), periodically transmits basic information, the basic information comprising the position of the road participant (5a, 5b, 5c, 5d, 5e) and at least one operating parameter, It is characterized in that In order to form a communication group associated with an application, a traffic participant (5a, 5b, 5c, 5d, 5e) planning to execute an application sends a query message via a communication channel (2), wherein, if there is a reply message from at least one other traffic participant (5a, 5b, 5c, 5d, 5e) who is also planning and / or executing an application, a communication group is established with the other traffic participant, wherein at least one member of the communication group, as a communication leader, periodically sends a group status message via the communication channel (2) on behalf of all members, wherein the group status message describes the members as a common object with identity information executing the application, so that additional messages sent to the object with identity information are received and evaluated by all members. The group state message includes extent information that describes the extent of the object as a geometric shape covering all group members (17), A control device of the communication responsible person, which is associated with and / or assigned to the communication device (4a, 4b, 4c, 4d, 4e), determines at least part of the group status message from basic information of the group members. The control device is further designed to adapt basic information of the group member to the application, wherein if an adaptation result indicates that the group member does not implement the application, the group member is removed from the communication group.

2. The method according to claim 1, characterized in that Based on the selection criteria that evaluate only at least a portion of the basic information, the person responsible for communication is determined without further message exchange.

3. The method according to claim 2, characterized in that As the communication leader, the crew member is selected, which is a motor vehicle (8, 9), and which provides the greatest computing power for the communication function and / or has the greatest quality and / or range and / or fully automated driving and / or has the greatest communication range.

4. The method according to claim 2 or 3, characterized in that The selection of the communication leader is confirmed by the other team members via the communication channel (2) with the aid of a confirmation message.

5. The method according to any one of claims 1 to 3, characterized in that A control device of the communication responsible person associated with and / or assigned to a communication device (4a, 4b, 4c, 4d, 4e) determines at least part of the group status message from only basic information of the group members in terms of communication.

6. The method according to any one of claims 1 to 3, characterized in that After executing the application, at least one group member leaves the communication group by means of a leave message, and / or at least one road user (5a, 5b, 5c, 5d, 5e) joins the communication group by means of a reply message based on the group status message.

7. The method according to any one of claims 1 to 3, characterized in that Each team member controls the execution of the application independently of other team members without intra-team communication.

8. The method according to any one of claims 1 to 3, characterized in that In an additional function, separate from the formation and use of the communication group, the execution of the application is coordinated for at least some of the group members using a separate communication channel.

9. The method according to any one of claims 1 to 3, characterized in that A query message is sent when a query criterion is met, wherein the query criterion checks whether the number of road users (5a, 5b, 5c, 5d, 5e) in a predetermined range around the checked road user (5a, 5b, 5c, 5d, 5e), determined based on the received basic information, exceeds a threshold value.

10. The method according to any one of claims 1 to 3, characterized in that The application scenarios are selected from the following application scenarios: driving through a roundabout to a specific exit, going straight at an intersection (7), turning left, turning right, changing lanes to the left, changing lanes to the right, exiting a motorway, entering a motorway, and crossing a road (16).

11. The method according to any one of claims 1 to 3, characterized in that Basic information is sent as BSM and / or CAM.

12. A communication system (1) comprising communication devices (4a, 4b, 4c, 4d, 4e) of a plurality of road users (5a, 5b, 5c, 5d, 5e), the communication devices being designed to carry out the method according to any one of claims 1 to 11.

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