Autonomous vehicle operation method for automatic coordination of driving maneuvers

Abstract

The invention relates to a method for operating an autonomous vehicle and to a vehicle, in which method a coordination device of an autonomous first vehicle identifies, during autonomous operation of the first vehicle, a driving situation of the autonomous first vehicle which involves a second vehicle, a driving assistance system of the autonomous first vehicle planning a driving maneuver as a function of the identified driving situation.

Description

Technical Field

[0001] This invention relates to a method for operating an autonomous vehicle, wherein, during autonomous operation of a first vehicle, a coordination device of the autonomous first vehicle identifies the driving conditions of the autonomous first vehicle involving a second vehicle, and the driving assistance system of the autonomous first vehicle plans driving maneuvers based on the identified driving conditions. Furthermore, this invention relates to a control device for a vehicle and a vehicle. Background Technology

[0002] The methods of the type described at the beginning are disclosed in the prior art in various design schemes and are used to ensure the safe autonomous operation of autonomous vehicles, i.e., safe driving. This is especially important considering that other vehicles involved in the autonomous vehicle's driving conditions may pose obstacles to this safe driving.

[0003] Therefore, a suitable operating method must enable safe driving maneuvers for the autonomous vehicle even when at least one other vehicle (hereinafter referred to as the second vehicle) is involved in the identified driving situation. The safety of the planned driving maneuvers can be improved by having the autonomous vehicle inform the second vehicle of the planned driving maneuvers in advance.

[0004] DE 10 2019 216 913 A1 discloses a method for sending messages between vehicles, wherein a possible trajectory of a first vehicle defined by trajectory parameters is determined based on received communication data and environmental data detected by sensors, the correlation of the possible trajectory with respect to the first vehicle or a second vehicle is determined based on the trajectory parameters, and a message containing the determined trajectory is sent to the second vehicle with a transmission priority corresponding to the determined correlation.

[0005] The determined trajectory can, of course, include the planned driving maneuvers of the first vehicle, such as lane changes, overtaking, acceleration, braking, and turning. The more relevant a message is to the determined trajectory of the first vehicle, the higher its priority. This ensures that the second vehicle receives notification of the trajectory determined by the first vehicle as early as possible and promptly adapts its own trajectory to that determined trajectory.

[0006] To further enhance the safety of autonomous vehicle driving operations, planned driving maneuvers can be interactively negotiated between vehicles. In this case, safety can be further improved by informing the second vehicle of the execution of the negotiated driving maneuvers after the negotiation has been completed.

[0007] For example, DE 10 2020 122 232 A1 discloses a method for coordinating driving maneuvers between vehicles, wherein at least two vehicles negotiate the planned maneuvers of a first vehicle involving a lane area, for example, by sending a message involving entering or leaving the lane area to a second vehicle via a Connected Vehicles Protocol (CVIP) when the first vehicle enters or leaves the lane area.

[0008] In addition, efforts are made to enable the driver of the first vehicle to send personal messages to the driver of the second vehicle in a simple manner while the vehicle is in motion, using natural language without the need for known contact information and independent of planned driving operations.

[0009] US 2020 / 0404462 A1 discloses a method for sending messages between vehicles, such as sending alarm alerts. In this method, a stationary server receives voice messages and video content from a first vehicle. The stationary server determines the message destination, a second vehicle, and the message content based on the received voice messages and video content using Natural Language Processing (NLP) or pattern recognition. The stationary server then sends the determined message content to the determined second vehicle based on the determined message destination.

[0010] However, driving conditions and the driving maneuvers that may occur and actually occur within each of these conditions are very different and can be extremely complex. While standardization committees such as ETSI have attempted to define V2X message types suitable for coordinating driving maneuvers, different driving maneuvers are difficult to fully map using only a few V2X message types. Furthermore, the complexity of driving maneuvers necessitates a highly refined distinction for each V2X message type that is almost impossible to control.

[0011] Therefore, it is unavoidable that at least some driving maneuvers that occur in practice cannot be described by standardized V2X message types, or at least cannot be adequately described and coordinated, which will bring corresponding accident risks. Summary of the Invention

[0012] Based on this prior art, the object of this invention is to provide a method for operating an autonomous vehicle that flexibly supports the automatic coordination of any possible driving maneuvers of the autonomous vehicle. Another object of this invention is to provide a control device for a vehicle and a vehicle itself.

[0013] One aspect of this invention is a method for operating an autonomous vehicle, wherein a coordination device of a first autonomous vehicle identifies driving conditions of the first autonomous vehicle involving a second vehicle during autonomous operation of the first vehicle, and a driving assistance system of the first autonomous vehicle plans driving maneuvers based on the identified driving conditions. Both vehicles can be designed as passenger cars, commercial vehicles, or other road-suitable vehicles. The second vehicle can advantageously also be an autonomous vehicle, but does not necessarily have to be. As is generally the case, the vehicle designations are used only to distinguish between the two vehicles and do not limit the method; that is, in the case of two autonomous vehicles, i.e., in a symmetrical configuration, the two possible designations are equivalent.

[0014] The driving condition includes the environment of the autonomous first vehicle and at least one second vehicle located within the environment of the autonomous first vehicle. The driving condition may also include infrastructure equipment located within the environment of the autonomous first vehicle. It goes without saying that multiple second vehicles can be deployed in the environment of the autonomous first vehicle, and correspondingly, multiple second vehicles can participate in the driving condition.

[0015] In the method according to the invention, the coordination device of the autonomous first vehicle generates free text describing the planned driving maneuvers and addressing to the second vehicle; the communication device of the autonomous first vehicle sends a message containing the generated free text as a broadcast message; and the coordination device of the autonomous first vehicle waits for a predetermined waiting time to receive a message from the second vehicle. The free text is not limited to a specific text type and enables the description of any possible driving maneuvers that occur in practice. Furthermore, the free text enables the description and therefore precise addressing of a typically unfamiliar second vehicle. For example, the free text could be “I want to overtake that blue vehicle with official license plate number ABC at location POS and time TIME in lane X.”

[0016] The message is sent as a broadcast and can be received by any other vehicle (including the second vehicle exemplified here). Therefore, the message is not sent to a specific recipient. However, the free text is only addressed to each second vehicle described therein. This flexibly assists the autonomous first vehicle in every possible driving maneuver, regardless of the number of second vehicles involved. Of course, the first vehicle can send multiple messages with different free texts regarding the planned driving maneuvers. These different free texts then address the different second vehicles involved in the planned driving maneuvers, respectively.

[0017] Preferably, the communication device of the second vehicle receives the sent message, the coordination device of the second vehicle identifies the driving status of the second vehicle, the coordination device interprets the free text of the received message, the coordination device identifies itself as the addressing object of the interpreted free text, and the coordination device determines the relevance value / correlation value of the driving operation described in the free text based on the interpreted free text and the identified driving status. If the determined relevance value exceeds a threshold and the second vehicle is driving autonomously, the driving assistance system of the second vehicle considers the described driving operation when determining the trajectory of the second vehicle; or if the determined relevance value exceeds the threshold and the second vehicle is manually driven by the driver, the infotainment system of the second vehicle notifies the driver of the described driving operation. Variations of this method assume that the second vehicle is also designed according to the present invention. The relevance value corresponds to the danger or risk of the described driving operation to the second vehicle. The threshold is used to force a binary decision regarding the behavior of the second vehicle.

[0018] If the second vehicle is driving autonomously, its coordination equipment can additionally determine correlation values ​​based on the identified driving conditions. Furthermore, the second vehicle can automatically adapt its trajectory to the driving maneuvers of the described autonomous first vehicle when necessary.

[0019] If the second vehicle is manually controlled, the coordinating device can notify the driver, thereby prompting the driver to manually adapt the trajectory of the second vehicle to the driving maneuvering of the autonomous first vehicle if necessary.

[0020] Conversely, if the determined correlation value is below a threshold, there is no need to change the trajectory of the second vehicle. The adaptive response of the second vehicle improves the safety of the described driving maneuvers.

[0021] In one embodiment, the coordination device of the second vehicle generates the correlation value determined by the specification and addresses the free text of the autonomous first vehicle. The communication device of the second vehicle sends a message containing the generated free text as a broadcast message. The message sent by the second vehicle enables negotiation of driving controls between the autonomous first vehicle and the second vehicle, which is accompanied by further improved driving control safety. This implementation may be referred to as an Acknowledgement (ACK) variant.

[0022] The communication equipment of the autonomous first vehicle can receive messages sent by the second vehicle during the waiting period. The coordination equipment of the autonomous first vehicle can interpret the free text of the received messages, identify itself as the addressing object of the interpreted free text, and determine the degree of freedom (DOF) value for the planned driving maneuver based on the interpreted free text and the identified driving conditions. If the determined DDF value is lower than a threshold, the autonomous first vehicle's driving assistance system can abandon the planned driving maneuver; conversely, if the determined DDF value exceeds the threshold, the planned driving maneuver can be executed. The threshold is used to force a binary decision regarding the behavior of the first vehicle. The DDF value corresponds to the degree of safety or risk-free nature of the described driving maneuver for the autonomous first vehicle. In this way, risk-free driving maneuvers are executed, while risky driving maneuvers are abandoned.

[0023] If multiple second vehicles are involved in a planned driving maneuver, the first vehicle can receive multiple messages sent by the involved second vehicles. Ideally, if the first vehicle's coordination device decides to abandon or execute the planned driving maneuver, the first vehicle's coordination device considers each message received from the involved second vehicle.

[0024] In an alternative implementation, if the communication device of the autonomous first vehicle does not receive a message from the second vehicle within a waiting period, the coordination device determines the degree of freedom (DOF) value for the planned driving maneuver based on the identified driving conditions. If the determined DDF value is below a threshold, the driving assistance system of the autonomous first vehicle abandons the planned driving maneuver; or if the determined DDF value exceeds the threshold, the driving assistance system executes the planned driving maneuver. This variant does not require the second vehicle to have the configuration according to the invention, i.e., the autonomous first vehicle independently and autonomously makes a decision on the described driving maneuver after evaluating the driving conditions. In other words, the coordination device of the autonomous first vehicle can consider the message from the second vehicle, but does not need the message from the second vehicle. In this respect, this variant is useful in the promotion stage where the proportion of vehicles configured according to the invention is still relatively low.

[0025] In another alternative implementation, if the communication device of the autonomous first vehicle does not receive a message from the second vehicle within the waiting time, the driving assistance system of the autonomous first vehicle directly executes the described driving maneuver. This variant also does not require the second vehicle to have the configuration according to the invention; that is, in the absence of a message from the second vehicle, the autonomous first vehicle decides to execute the described driving maneuver without determining the degree of freedom. This implementation can be referred to as the No-Acknowledgement (NACK) variant.

[0026] Ideally, the coordination equipment of the autonomous first vehicle and / or the second vehicle can identify driving conditions based on received V2X messages and / or environmental data detected by sensors and evaluated by the visual question-and-answer (VQA) module of the coordination equipment. Furthermore, the coordination equipment can receive Cooperative Perception Messages (CPM), text messages, or images from the second vehicle and use them to identify driving conditions.

[0027] Preferably, the Large Language Model (LLM) module of the coordinating device generates and / or interprets free text. The LLM can take the context of the free text into account when generating or interpreting it.

[0028] Each message can be sent or received via V2X, WLAN, or mobile communication links. Vehicle-to-everything (V2X) connections, WLAN connections, and mobile communication links are common wireless connections used for vehicle communication.

[0029] Specifically, each message is transmitted directly or indirectly between the autonomous first vehicle and the second vehicle via lane-specific infrastructure equipment associated with the driving conditions, or indirectly via an edge data center, or indirectly via the internet cloud. Messages transmitted as vehicle-to-vehicle (V2V) messages are transmitted directly between the two vehicles. Conversely, vehicle-to-infrastructure (V2I) messages are transmitted via infrastructure equipment. Messages transmitted using TCP / IP or UDP / IP protocols can be transmitted via mobile communication networks. The edge data center is located at least logically adjacent to the base station (BTS) of the mobile communication network to which the vehicle is connected, while the internet cloud can be located anywhere.

[0030] Another subject of the present invention is a control device for a vehicle.

[0031] According to the present invention, the control device is configured to participate in the method according to an embodiment of the present invention, either as a coordinating device for an autonomous first vehicle or as a coordinating device for a second vehicle. The control device enables the vehicle to flexibly and automatically coordinate every possible driving maneuver.

[0032] Another subject of the invention is a vehicle having communication equipment, a driving assistance system, and a coordination device functionally connected to the communication equipment and the driving assistance system. The coordination device may be designed independently of the communication equipment and the driving assistance system. Alternatively, the coordination device may be an integral part of the communication equipment and / or the driving assistance system.

[0033] According to the present invention, a vehicle is configured to perform the method according to an embodiment of the invention together with a second vehicle as an autonomous first vehicle. The configuration according to the invention enables the vehicle to flexibly and automatically coordinate every possible driving maneuver.

[0034] The coordination device may include a Large Language Model (LLM) module and / or a Visual Question Answering (VQA) module. The LLM module can consider the context of free text when generating or interpreting it, thereby enabling context-based information exchange between participating vehicles. Other text-based decision-making algorithms can also be used instead of the Large Language Model. Traditional object recognition algorithms or artificial neural networks used for classifying visually recognized objects can be used instead of VQA.

[0035] A key advantage of the method according to the invention is that it flexibly supports automatic coordination of every possible driving maneuver of the autonomous vehicle. Another advantage is that the method can be adapted to different levels of cooperation with a second vehicle. Attached Figure Description

[0036] The invention is illustrated schematically with reference to the accompanying drawings, and the invention is further described with reference to the accompanying drawings. Wherein:

[0037] Figure 1 An autonomous first vehicle and a second vehicle according to an embodiment of the present invention are shown in a functional view;

[0038] Figure 2 A flowchart illustrates a method for operating an autonomous vehicle from the perspective of an autonomous first vehicle, according to an embodiment of the present invention.

[0039] Figure 3 The flowchart illustrates the process from the perspective of the second vehicle. Figure 2 The method shown. Detailed Implementation

[0040] Figure 1 An autonomous first vehicle 1 and a second vehicle 2 according to an embodiment of the present invention are shown in a functional view. The autonomous first vehicle 1 includes a communication device 10, a driving assistance system 12, and a coordination device 11. The coordination device 11 may include a Large Language Model (LLM) module 110 and a Visual Question Answering (VQA) module 111. The communication device 10 is functionally connected to the LLM module 110. The driving assistance system 12 is functionally connected to the VQA module 111.

[0041] The autonomous first vehicle 1 may also include an optical external sensor 13 functionally connected to the VQA module 111, an infotainment system 14 functionally connected to the VQA module 111, and a vehicle sensor system 15 functionally connected to the LLM module 110. The optical external sensor 13 may be designed as, for example, a camera, a depth camera, an ultrasonic sensor, or a lidar sensor.

[0042] VQA module 111 can also be functionally connected to problem selection module 113, which in turn is functionally connected to problem database 112 and environment model 114. Problem selection module 113, problem database 112, and environment model 114 can also belong to autonomous vehicle 1.

[0043] The second vehicle 2 includes a communication device 20 and a coordination device 21. The coordination device 21 may include an LLM module 210 and a VQA module 211. The communication device 20 is functionally connected to the LLM module 210. The second vehicle 2 may also include a driver assistance system 22 and an infotainment system 24, which are functionally connected to the VQA module 211. The second vehicle 2 may also include a forwarding mechanism 23, which is functionally connected to the LLM module 210.

[0044] The autonomous first vehicle 1 and the second vehicle 2, more specifically, their respective communication devices 10 and 20, are connected via a wireless connection 3. The wireless connection 3 can be designed as a vehicle-to-everything (V2X) connection, a wireless local area network (WLAN) connection, or a radio connection to a mobile communication network.

[0045] The autonomous first vehicle 1 is configured to perform the method 4 according to an embodiment of the present invention together with the second vehicle 2.

[0046] Figure 2 A flowchart illustrates a method 4 for operating an autonomous vehicle 1 from the perspective of an autonomous first vehicle 1, according to an embodiment of the present invention. This method 4 is used to operate the autonomous vehicle.

[0047] During autonomous operation of the first vehicle 1, the coordination device 11 of the autonomous first vehicle 1 identifies the driving conditions of the autonomous first vehicle 1 involving the second vehicle 2. The driving assistance system 12 of the autonomous first vehicle 1 plans driving maneuvers 40 based on the identified driving conditions.

[0048] The coordination device 11 of the autonomous first vehicle 1 generates 41 a free text describing the planned driving maneuvers and addressing the second vehicle 2. The communication device 10 of the autonomous first vehicle 1 sends 42 a message containing the generated free text as a broadcast message.

[0049] The coordination device 11 of the autonomous first vehicle 1 waits for a predetermined waiting time in anticipation of a message from the second vehicle 2.

[0050] Method 4 can implement at least one of the three variants described below.

[0051] In the first variant, provided that the second vehicle 2 is equipped with the configuration according to the invention, the coordination device 21 of the second vehicle 2 also generates the determined correlation value and addresses the free text of the autonomous first vehicle 1, and the communication device 20 of the second vehicle 2 sends the message with the generated free text as a broadcast message 48.

[0052] The communication device 10 of the autonomous first vehicle 1 can receive messages sent by the second vehicle 2 during the waiting period. The coordination device 11 of the autonomous first vehicle 1 can interpret the free text of the received messages, identify itself as the addressing object of the interpreted free text, and determine the degrees of freedom (DOF) for the planned driving maneuver based on the interpreted free text and the identified driving conditions. If the determined DDF is lower than a threshold, the driving assistance system 12 of the autonomous first vehicle 1 can abandon the planned driving maneuver, or execute the planned driving maneuver if the determined DDF exceeds the threshold.

[0053] In the second variant, provided that the second vehicle 2 does not have the configuration according to the invention, and the communication device 10 of the autonomous first vehicle 1 does not receive a message from the second vehicle 2 within the waiting time, the coordination device 11 of the autonomous first vehicle 1 determines 51 degrees of freedom for the planned driving operation based on the identified driving conditions. If the determined degrees of freedom are lower than a threshold, the driving assistance system 12 of the autonomous first vehicle 1 abandons 52 the execution of the planned driving operation, or if the determined degrees of freedom exceed the threshold, the driving assistance system 12 of the autonomous first vehicle 1 executes 53 the planned driving operation.

[0054] In the third variant, the premise is that the second vehicle 2 also does not have the configuration according to the invention, and the communication device 10 of the autonomous first vehicle 1 does not receive the message from the second vehicle 2 within the waiting time, the driving assistance system 12 of the autonomous first vehicle 1 directly executes the driving operation described in 53.

[0055] Preferably, the Large Language Model (LLM) modules 110 and 210 of the coordinating devices 11 and 21 can generate 41 and / or interpret 50 free texts.

[0056] The coordination devices 11 and 21 of the autonomous first vehicle 1 and / or the second vehicle 2 can identify the driving conditions based on the received V2X messages and / or environmental data detected by sensors and evaluated by the visual question-and-answer (VQA) modules 111 and 211 of the coordination devices 11 and 21.

[0057] Each message can be sent or received via wireless connection 3, such as a V2X connection, a WLAN connection, or a mobile communication network. Each message can also be transmitted directly or indirectly between the autonomous first vehicle 1 and the second vehicle 2 via lane infrastructure equipment associated with driving conditions, or indirectly via an edge data center, or indirectly via the Internet cloud.

[0058] Figure 3 The flowchart illustrates the process from the perspective of the second vehicle, 2. Figure 2 Method 4 is shown. The communication device 20 of the second vehicle 2 can receive the message sent by 44. If the second vehicle 2 is also configured according to the present invention, the coordination device 21 of the second vehicle 2 identifies the driving status of the second vehicle 2, the coordination device 21 interprets the free text of the received message, the coordination device 21 identifies itself as the addressing object of the interpreted free text, and the coordination device 21 determines the correlation value of the driving operation described by the free text 45 based on the interpreted free text.

[0059] If the determined correlation value exceeds a threshold and the second vehicle 2 is driving autonomously, the driver assistance system 22 of the second vehicle 2 may consider the driving maneuver described in 46 when determining the trajectory of the second vehicle 2. Alternatively, if the determined correlation value exceeds a threshold and the second vehicle 2 is being driven manually by a driver, the infotainment system 24 of the second vehicle 2 may notify the driver of the described driving maneuver in a way that is notified ...

[0060] List of reference numerals in the attached diagram:

[0061] 1. China's first domestically produced vehicle

[0062] 10. Communication equipment

[0063] 11. Coordination Equipment

[0064] 110 LLM Module

[0065] 111 VQA Module

[0066] 112 Problem Database

[0067] 113 Question Selection Module

[0068] 114 Environmental Model

[0069] 12 Driving assistance systems

[0070] 13 Optical External Sensors

[0071] 14. Infotainment System

[0072] 15 Vehicle sensor system

[0073] 2. Autonomous second vehicle

[0074] 20. Communication equipment

[0075] 21. Coordination Equipment

[0076] 210 LLM Module

[0077] 211 VQA Module

[0078] 22 Driving assistance systems

[0079] 23 Forwarding Mechanism

[0080] 24. Infotainment System

[0081] 3. Wireless connection

[0082] 4 Methods

[0083] 40 Planning

[0084] 41 generated

[0085] 42 Send

[0086] 43 Waiting

[0087] 44 Receive

[0088] 45. Determine the correlation value

[0089] 46 Consider

[0090] 47 Notice

[0091] 48 Generation and Waiting

[0092] 49 Ignore

[0093] 50 Interpretations

[0094] 51. Determine the degrees of freedom.

[0095] 52. Abandon driving control

[0096] 53. Perform driving operations

[0097] 54. Recognition.

Claims

1. A method (4) for operating an autonomous vehicle (1), wherein, - The coordination device (11) of the autonomous first vehicle (1) identifies the driving status of the autonomous first vehicle (1) involving the second vehicle (2) during the autonomous operation of the first vehicle (1), and the driving assistance system (12) of the autonomous first vehicle (1) plans (40) driving operations according to the identified driving status. - The coordination device (11) of the autonomous first vehicle (1) generates (41) a free text describing the planned driving operation and addressing the second vehicle (2), and the communication device (10) of the autonomous first vehicle (1) sends the message with the generated free text as a broadcast message (42). - The coordination device (11) of the autonomous first vehicle (1) waits (43) for a predetermined waiting time in anticipation of a message from the second vehicle (2).

2. The method according to claim 1, characterized in that, - The communication device (20) of the second vehicle (2) receives the message sent by (44), the coordination device (21) of the second vehicle (2) identifies the driving status of the second vehicle (2), interprets the free text of the received message, identifies itself as the addressing object of the interpreted free text, and determines the correlation value of the driving operation described by (45) the free text based on the interpreted free text. - If the determined correlation value exceeds the threshold and the second vehicle (2) drives autonomously, the driving assistance system (22) of the second vehicle (2) considers the driving maneuver described in (46) when determining the trajectory of the second vehicle (2), or if the determined correlation value exceeds the threshold and the second vehicle (2) is driven manually by the driver, the infotainment system (24) of the second vehicle (2) notifies (47) of the driving maneuver described in (47) to the driver of the second vehicle (2).

3. The method according to claim 2, characterized in that, The coordination device (21) of the second vehicle (2) generates the correlation value determined by the description and addresses the free text of the autonomous first vehicle (1). The communication device (20) of the second vehicle (2) sends the message with the generated free text as a broadcast message (48).

4. The method according to claim 3, characterized in that, During the waiting time, the communication device (10) of the autonomous first vehicle (1) receives the message sent by the second vehicle (2). The coordination device (11) of the autonomous first vehicle (1) interprets (50) the free text of the received message, identifies itself as the addressing object of the interpreted free text, and determines (51) degrees of freedom for the planned driving operation based on the interpreted free text and the identified driving conditions. If the determined degrees of freedom are lower than the threshold, the driving assistance system (12) of the autonomous first vehicle (1) abandons the execution of the planned driving operation, or if the determined degrees of freedom exceed the threshold, the driving assistance system of the autonomous first vehicle executes (53) the planned driving operation.

5. The method according to claim 3, characterized in that, If the communication device (10) of the autonomous first vehicle (1) does not receive a message from the second vehicle within the waiting time, the coordination device (11) of the autonomous first vehicle (1) determines (51) degrees of freedom for the planned driving operation based on the identified driving conditions. If the determined degrees of freedom are lower than the threshold, the driving assistance system (12) of the autonomous first vehicle (1) abandons (52) the planned driving operation, or if the determined degrees of freedom exceed the threshold, the driving assistance system of the autonomous first vehicle executes (53) the planned driving operation.

6. The method according to claim 1, characterized in that, If the communication device (11) of the autonomous first vehicle (1) does not receive a message from the second vehicle (2) within the waiting time, the driving assistance system (12) of the autonomous first vehicle (1) directly executes the driving operation described in (53).

7. The method according to claim 1, characterized in that, The coordination devices (11, 21) of the autonomous first vehicle (1) and / or the second vehicle (2) identify (54) the driving status based on the received V2X messages and / or environmental data detected by sensors and evaluated by the visual question-and-answer (VQA) modules (111, 211) of the coordination devices (11, 21).

8. The method according to any one of claims 1 to 7, characterized in that, The Large Language Model (LLM) modules (110, 210) of the coordinating devices (11, 21) generate (41) and / or interpret (50) free text.

9. The method according to any one of claims 1 to 8, characterized in that, Each message is sent or received via a V2X connection (3), a WLAN connection, or a mobile communication link, and / or each message is transmitted directly or indirectly between the autonomous first vehicle (1) and the second vehicle (2) via lane infrastructure equipment associated with driving conditions, or indirectly via an edge data center, or indirectly via the Internet cloud.

10. A vehicle (1) having a communication device (10), a driving assistance system (12) and a coordination device (11) functionally connected to the communication device (10) and the driving assistance system (12), the vehicle being configured to perform the method according to any one of claims 1 to 9 together with a second vehicle (2) as an autonomous first vehicle (1).

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