Methods for the autonomous or semi-autonomous execution of a cooperative driving maneuver

Abstract

Method for autonomously or semi-autonomously performing a cooperative driving maneuver, characterized in that a maneuvering vehicle (10) which plans the execution of a driving maneuver performs the following steps: - Determining a maneuvering area (12) of a road (14) in which the driving maneuver is potentially executable, - Communicate with one or more vehicles (16, 18, 20) via vehicle-to-vehicle communication to detect one or more cooperating vehicles (20) that are expected to be within the maneuver area (12) during the execution of the driving maneuver, and - Adapting its own driving behavior to the expected driving behavior of one or more cooperation vehicles (20) in order to execute the planned driving maneuver, characterized in that the maneuvering vehicle (10) performs the following steps to detect the one or more cooperation vehicles (20): - Determining the message formats of messages received via vehicle-to-vehicle communication; and - Identifying one or more potential cooperation vehicles (18, 20) based on the message format sent by these vehicles (18, 20), whereby vehicles sending Environmental Perception Messages, EPM, are considered as potential cooperation vehicles.

Description

[0001] The invention relates to a method for the autonomous or semi-autonomous execution of a cooperative driving maneuver and a vehicle.

[0002] A cooperative driving maneuver usually involves at least two vehicles: a maneuvering vehicle that plans the execution of a driving maneuver, and at least one cooperation vehicle with which the maneuvering vehicle cooperates to realize the planned driving maneuver.

[0003] In principle, both the maneuvering vehicle and the cooperating vehicle can adjust their driving behavior so that the planned driving maneuver of the maneuvering vehicle can be implemented.

[0004] Adaptive cruise control systems are already in use in current technology, assisting the driver in maintaining a suitable distance to the vehicle in front. Such systems are known, for example, as Adaptive Cruise Control (ACC) and Automatic Distance Control (ADR). These systems continuously monitor the distance to the vehicle ahead, and this distance is used as a control variable when adjusting the vehicle's speed.

[0005] Vehicles will increasingly be equipped with communication systems or services. One type of service establishes a communication link between vehicles or from a vehicle to infrastructure, such as a traffic light. These concepts are referred to as Car-to-Car systems, Car-to-Infrastructure systems, or Car-to-X systems, where X is a placeholder for any infrastructure facilities, other vehicles, and other road users. Other common terms include Car2C, Car2X, C2C, and C2X systems, Vehicle-to-Vehicle (V2V) systems, Vehicle-to-Infrastructure (V2I) systems, and Vehicle-to-X (V2X) systems.

[0006] This communication between vehicles or between vehicles and infrastructure is also fundamentally suitable for supporting cooperative driving maneuvers.

[0007] However, during the journey, a vehicle will communicate with a large number of different vehicles, at least some of which are not suitable for jointly carrying out a cooperative driving maneuver.

[0008] DE102013013867A1 describes a motor vehicle with a driver assistance system that uses ego and environment data to predict future driving situations for a time interval and, if a dependent switching condition is met, temporarily switches from the driver-controlled first mode to a second, autonomously controlling mode without the possibility of intervention by the driver, in which driving operation continues.

[0009] DE102014216257A1 describes a method for determining a driving strategy in which a neighboring vehicle and its surrounding data are recorded. From this data, an impending change in the neighboring vehicle's movement is predicted, whereupon the driver's own driving strategy is adjusted accordingly. The invention also includes a corresponding driver assistance system and a motor vehicle equipped with this system.

[0010] DE102007015032A1 describes a method and a device for assessing the criticality of traffic situations for collision avoidance or mitigation. An object on a crossing collision course is detected from environmental data, and the collision zone is determined. Several possible acceleration and deceleration values ​​are assumed for the vehicle and / or the object; for each combination, the overlap period during which both are simultaneously in the collision zone is calculated. The totality of these predicted time overlaps forms the basis of the criticality assessment; a control unit executes the method.

[0011] DE102014215980A1 describes a method for operating a driver assistance device in automatic driving mode that takes over longitudinal and lateral control of a vehicle. The aim is cooperative behavior towards a neighboring vehicle: An impending lane change onto the vehicle's own lane is detected, the expected time gap after the lane change (tpred) is calculated and compared with a minimum time gap (t). If tpred is less than t, the system executes a longitudinal control maneuver on the vehicle's own lane to increase the time gap to at least t.

[0012] DE102015214689A1 describes a system for vehicles that uses position data and environmental data received from other vehicles (especially regarding a first lane) to calculate the trajectory of its own vehicle and to check whether it intersects the trajectory of an object or another vehicle. In the case of planned lane changes or lane crossings, a collision probability is determined for a future period and checked against a defined threshold.

[0013] The invention is based on the objective of providing a means which, by means of vehicle-to-vehicle communication, allows vehicles to be identified for the joint execution of a cooperative driving maneuver and then the cooperative driving maneuver to be carried out.

[0014] This problem is solved by a method according to claim 1, a method according to claim 6 or a vehicle according to claim 10.

[0015] In the inventive method of claim 1, a maneuvering vehicle planning to execute a driving maneuver identifies a maneuvering area on a road in which the maneuver is potentially feasible. The maneuvering vehicle then communicates with one or more vehicles via vehicle-to-vehicle communication to detect one or more cooperating vehicles that are expected to be within the maneuvering area during the execution of the driving maneuver. After detecting one or more cooperating vehicles, the maneuvering vehicle adjusts its driving behavior to the expected driving behavior of the one or more cooperating vehicles in order to execute the planned driving maneuver.In particular, the maneuvering vehicle performs the following steps to detect one or more cooperating vehicles: determining the message formats of the messages received via vehicle-to-vehicle communication, and identifying one or more potential cooperating vehicles based on the message format transmitted by these vehicles, whereby vehicles transmitting Environmental Perception Messages (EPMs) are considered potential cooperating vehicles. The maneuver area in which the driving maneuver is potentially executable encompasses all road sections where the planned driving maneuver can be implemented. Preferably, a digital road map is used to determine the maneuver area, which is available, for example, locally on the vehicle and / or retrieved from a service via a radio link.

[0016] The method according to the invention has the advantage that vehicles in the vicinity that are not suitable as cooperation vehicles are not considered as such, for example, because they are expected to be far from the maneuvering area during the maneuver or will be using a lane that is not relevant to the maneuver. Thus, a filtering takes place for vehicles that are relevant for carrying out the planned maneuver. This allows for the safe and effective implementation of cooperative driving maneuvers.

[0017] The maneuvering vehicle and / or the one or more cooperating vehicles can be, for example, passenger cars, commercial vehicles, or two-wheelers. The maneuver planned by the maneuvering vehicle can be, for example, merging into traffic or an overtaking maneuver requiring a lane change. In addition to vehicle-to-vehicle communication, peripheral road infrastructure, such as traffic lights, can also be integrated into the communication. The information received via vehicle-to-vehicle communication from the one or more vehicles can include, for example, position, speed, direction of travel, or lane. Alternatively or additionally, the received information can also relate to objects detected by the communicating partners.

[0018] The maneuvering vehicle can automatically select a maneuver to be executed before the maneuver is carried out, or based on input from the driver. The maneuvering area, in which the maneuver is potentially feasible, can also include sections of the roadway that are not expected to be used during the maneuver, although the use of these sections cannot be completely ruled out. This leads to a reduction in the risk of accidents in unusual driving situations.

[0019] The maneuvering vehicle can determine an approach timeframe within which it is expected to reach the maneuvering area. To do this, the maneuvering vehicle predicts the theoretically shortest and longest approach times to the maneuvering area, taking into account its driving situation and any necessary decelerations. The shortest approach time can depend on the speed of traffic in the vicinity of the maneuvering vehicle, the applicable traffic regulations, and the achievable speeds dictated by the road layout. The permissible acceleration and / or deceleration values ​​of the maneuvering vehicle during the approach to the maneuvering area could be parameterized within predefined limits. The maneuvering vehicle can also determine the maneuver digestion timeframe within which the driving maneuver can be executed.This can further reduce the risk of accidents if an unexpected driving situation arises after the start of the driving maneuver.

[0020] To identify one or more potential cooperating vehicles, the maneuvering vehicle determines the message formats of the messages received via vehicle-to-vehicle communication. Based on the determined message format, one or more potential cooperating vehicles are then identified. Only vehicles that send messages in a format that suggests the presence of clear areas in the road section relevant to the maneuver are considered. Preferably, only vehicles that send Environmental Perception Messages (EPMs) are considered as potential cooperating vehicles. Environmental Perception Messages allow for the reliable determination of clear areas between vehicles, whereby the position, size, and / or movement of the clear area can be derived from the data. Vehicles typically send Environmental Perception Messages several times per second.The information transmitted is determined by sensors, such as radar, on the vehicle.

[0021] The maneuvering vehicle can identify approach zones on the road from which the maneuvering area is theoretically reachable within the approach timeframe to detect one or more cooperating vehicles. Once the approach zones have been identified, one or more potential cooperating vehicles located within these zones can be determined using data received via vehicle-to-vehicle communication. After identifying one or more potential cooperating vehicles, the driving behavior of each potential cooperating vehicle can be predicted using the data received via vehicle-to-vehicle communication. Simultaneously, the maneuvering vehicle can predict its own driving behavior, allowing the predicted driving behavior of the one or more potential cooperating vehicles to be compared with the maneuvering vehicle's own predicted driving behavior.Based on this comparison, one or more actual cooperation vehicles can then be identified among the potential cooperation vehicles. Predicting driving behavior can include forecasting a likely distance-time profile and / or considering the probability of a lane change.

[0022] The maneuvering vehicle can continuously detect and analyze the development of clear areas between vehicles. For this purpose, the minimum size of a clear area required to execute the maneuver can be determined. Preferably, the minimum size of a clear area for executing a maneuver is determined based on the speed at which the clear area is moving, the dimensions of the maneuvering vehicle, and / or a required safety distance. With regard to the dimensions of the maneuvering vehicle, additional vehicles coupled to it, such as trailers and protruding loads, can also be taken into account. The required safety distance can depend on the speed of the maneuvering vehicle and / or the speed at which the clear area is moving.The size of the detected free area can then be compared with the specified minimum size, allowing a suitable free area to be selected. This area is expected to be within the maneuvering area during the planned maneuver and will have at least the minimum size required to execute the maneuver. The selected free area then moves towards the maneuvering area of ​​the road, and the maneuvering vehicle can execute its maneuver as soon as the selected free area reaches the maneuvering area.

[0023] A previously selected clear area may become unsuitable for the maneuver before it is executed, for example, due to unexpected behavior from other vehicles, as the clear area now falls below the previously determined minimum size. This demonstrates the importance of continuously monitoring and evaluating clear areas until the maneuver is carried out. In this case, a new, suitable clear area can be selected, one that is expected to be within the maneuver area during the planned execution and that meets at least the minimum size requirement. This newly selected clear area may have already been identified as an alternative clear area suitable for the maneuver.Alternatively, the newly selected free area can only be determined after the previously selected free area has been eliminated.

[0024] Adapting the maneuvering vehicle's behavior to the anticipated behavior of one or more cooperating vehicles can include adjusting the maneuvering vehicle's trajectory to reach the selected clear area, provided it lies within the maneuvering area. The trajectory can be adjusted, for example, by setting a selected distance-time profile and thus by adjusting appropriate acceleration or deceleration values. Furthermore, while the maneuvering vehicle is approaching the clear area, a cyclical check of the maneuver's feasibility can be performed.

[0025] In the inventive method according to claim 6, which can also further develop one of the methods described above, a maneuvering area of ​​a road in which a vehicle maneuver can be expected is determined. This determination can, for example, be carried out directly by the cooperating vehicle. Alternatively or additionally, the determination can be carried out by the cooperating vehicle receiving corresponding maneuver information from a maneuvering vehicle, which is planning to execute a maneuver, via vehicle-to-vehicle communication.The cooperating vehicle now communicates with one or more vehicles via vehicle-to-vehicle communication to detect a maneuvering vehicle that is planning to execute a maneuver and is expected to be within the maneuvering area during the maneuver. It then adjusts its own driving behavior to the anticipated behavior of the maneuvering vehicle to support the planned maneuver. Furthermore, the maneuvering vehicle and the cooperating vehicle can coordinate their driving behavior in such a way that the acceleration and / or braking required to execute the maneuver by both vehicles minimizes their combined energy consumption.The coordination of the maneuvering vehicle and the cooperation vehicle can also be based on maximizing the probability of successful implementation of the planned driving maneuver of the maneuvering vehicle.

[0026] The maneuvering area is preferably determined directly by the cooperating vehicle. For this purpose, the cooperating vehicle can use a digital road map, which may be stored locally on the vehicle and / or retrieved from a service, for example, via a radio link. The cooperating vehicle can determine an approach timeframe within which it is expected to reach the maneuvering area. To do this, the cooperating vehicle predicts the theoretically shortest and longest approach times to the maneuvering area, taking into account its driving situation and any necessary delays. The shortest approach time can depend on the speed of traffic in the vicinity of the cooperating vehicle, the applicable traffic regulations, and the achievable speeds dictated by the road layout.The permissible acceleration and / or deceleration values ​​of the cooperating vehicle during the approach to the maneuvering area could be parameterized within predefined limits. The cooperating vehicle can also determine the maneuvering limits within which the expected maneuver in the maneuvering area can be executed. This can further reduce the risk of accidents if an unexpected driving situation arises after the maneuvering vehicle has begun executing a maneuver.

[0027] The maneuvering vehicle can also communicate a preferred maneuvering area to the cooperating vehicle via vehicle-to-vehicle communication. This is particularly advantageous when the maneuvering area in question covers a very large section of the road. In this way, cooperation between the maneuvering vehicle and the cooperating vehicle can be improved, while simultaneously freeing up road sections for other vehicles to carry out cooperative driving maneuvers.

[0028] The cooperating vehicle can identify the maneuvering vehicle by determining the message formats of messages received via vehicle-to-vehicle communication. Based on the determined message format, one or more potential maneuvering vehicles can then be identified. Only vehicles that send messages in a format that suggests a planned driving maneuver are considered.

[0029] Preferably, the cooperating vehicle also identifies potential maneuvering vehicles by considering an environmental model. This environmental model combines information from a digital map, vehicle sensors such as radar or cameras, and information received via vehicle-to-vehicle communication. This allows for the detection of relevant objects in the surroundings. Simultaneously, properties such as position, speed, acceleration, and vehicle length can be assigned to these objects. To detect the maneuvering vehicle, the cooperating vehicle can determine approach zones on the road from which the maneuvering area is theoretically reachable within the approach timeframe. Once these approach zones have been determined, one or more potential maneuvering vehicles located within them can be identified using the data received via vehicle-to-vehicle communication.After identifying one or more potential maneuvering vehicles, the driving behavior of each can be predicted using data received via vehicle-to-vehicle communication. Simultaneously, the cooperating vehicle can predict its own driving behavior, allowing the predicted driving behavior of the one or more potential maneuvering vehicles to be compared with the predicted driving behavior of the cooperating vehicle. Based on this comparison, an actual maneuvering vehicle can then be identified from among the potential vehicles. Predicting driving behavior can include forecasting a likely path-time trajectory and / or considering the probability of a lane change.The cooperating vehicle can also determine its own deceleration or acceleration for each potential maneuvering vehicle, which would be necessary to support the maneuvering vehicle's driving maneuver, and compare this with a predetermined maximum deceleration or acceleration. If the necessary deceleration exceeds the predetermined maximum deceleration, or the necessary acceleration exceeds the predetermined maximum acceleration, the potential maneuvering vehicle is not considered as an actual maneuvering vehicle and is excluded. The maximum deceleration or acceleration can be parameterized. If the cooperating vehicle identifies several maneuvering vehicles, it is preferable for the cooperating vehicle to select the maneuvering vehicle for which adjusting its own driving behavior incurs the lowest costs.

[0030] Adapting the cooperating vehicle's driving behavior to the anticipated driving behavior of the maneuvering vehicle can include adjusting the cooperating vehicle's trajectory to enlarge the free area within which the maneuvering vehicle's driving maneuver can be executed within the maneuvering area. Preferably, the adjustment of the cooperating vehicle's trajectory is completed upon entering the maneuvering area, but at least before leaving it. An example of such trajectory adjustment is distance control applied to the identified maneuvering vehicle. The maneuvering vehicle is projected as an imaginary object onto the cooperating vehicle's lane. A point behind the rear of the maneuvering vehicle is chosen as the follow point for the distance control. The position of this follow point can be parameterized within predefined limits.

[0031] The vehicle according to the invention comprises a communication device for communicating with other vehicles via vehicle-to-vehicle communication and a control device for the autonomous or semi-autonomous execution of a driving maneuver. The vehicle according to the invention is configured to perform the method for the autonomous or semi-autonomous execution of a cooperative driving maneuver according to one of the embodiments described above, either as a maneuvering vehicle and / or as a cooperative vehicle. The same advantages and modifications apply as described above.

[0032] Further preferred embodiments of the invention result from the other features mentioned in the dependent claims.

[0033] Unless otherwise stated in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with one another.

[0034] The invention is explained below using exemplary embodiments with reference to the accompanying drawings. These show: Fig. 1 a schematic representation of a traffic situation during the execution of the method according to the invention; Fig. 2 a schematic representation of a traffic situation during the execution of the method according to the invention, which is based on the in Fig. The traffic situation shown in section 1 follows; Fig. 3 a schematic representation of a traffic situation during the execution of the method according to the invention, which is based on the in Fig. The traffic situation shown in section 2 follows; Fig. 4 a schematic representation of a traffic situation during the execution of the method according to the invention, which is based on the in Fig. The traffic situation shown in section 3 follows; Fig. 5 a schematic representation of a traffic situation during the execution of the method according to the invention; Fig. 6 a schematic representation of a traffic situation during the execution of the method according to the invention, which is based on the in Fig. The traffic situation shown in section 5 follows; Fig. 7 a schematic representation of a traffic situation during the execution of the method according to the invention, which is based on the in Fig. The traffic situation shown in section 6 follows; Fig. 8 a schematic representation of a traffic situation during the execution of the method according to the invention, which is based on the in Fig. The traffic situation depicted in section 7 follows; and Fig. 9 a schematic representation of a vehicle according to the invention.

[0035] Fig. Figure 1 shows a traffic situation during the execution of the inventive method for the autonomous or semi-autonomous execution of a cooperative driving maneuver. A maneuvering vehicle 10 plans to execute a driving maneuver, namely merging into the flow of traffic on a highway. The maneuvering vehicle 10 moves from a highway on-ramp towards the highway. The maneuvering vehicle 10 first determines a maneuvering area 12 of the road 14 in which merging into the flow of traffic is potentially possible. The maneuvering vehicle 10 communicates simultaneously with several vehicles 16, 18, 20 via vehicle-to-vehicle communication in order to detect several cooperative vehicles 20 that are expected to be within the maneuvering area 12 during the execution of the driving maneuver. Furthermore, the maneuvering vehicle 10 determines an approach time period in which it is expected to reach the maneuvering area 12.For this purpose, the maneuvering vehicle 10, taking its driving situation into account, predicts the theoretically shortest and longest approach times to maneuvering area 12. Due to the unobstructed access, the shortest approach time depends solely on the applicable traffic regulations and the achievable speeds dictated by the road's layout. The longest approach time depends solely on a predetermined minimum speed for the maneuver to be performed, namely merging. To detect the cooperating vehicles 20, the maneuvering vehicle 10 identifies one or more approach zones 22 on road 14 from which maneuvering area 12 is theoretically reachable within the approach time. Additionally, the maneuvering vehicle 10 determines the message formats of the messages received via vehicle-to-vehicle communication.Vehicles that send Environmental Perception Messages (EPM) and are located in approach area 22 are identified as potential cooperation vehicles 18, 20.

[0036] As in Fig. As shown in Figure 2, vehicles 16, 18, and 20 are filtered according to their relevance to the planned maneuver. Vehicles 16 that are not considered potential cooperation vehicles are not further considered. However, vehicles 16 can still be monitored or observed to detect any course changes by a vehicle 16 into maneuver area 12 and to identify any resulting changes to or unavailability of maneuver area 12, taking appropriate action if necessary.

[0037] The maneuvering vehicle 10 now predicts the driving behavior of the potential cooperation vehicles 18 and 20 using data received via vehicle-to-vehicle communication. Simultaneously, the maneuvering vehicle 10 predicts its own driving behavior, allowing the predicted driving behavior of the potential cooperation vehicles 18 and 20 to be compared with its own predicted driving behavior in order to identify the actual cooperation vehicles 20. The maneuvering vehicle 10 continuously monitors and evaluates the development of clear areas 24 between the cooperation vehicles 20. For this purpose, the maneuvering vehicle determines the minimum size of a clear area 24 required to execute the merging maneuver. To determine the minimum size of a clear area 24, the maneuvering vehicle 10 considers the speed at which the clear area 24 is moving, its own vehicle dimensions, and a required safety distance.The maneuvering vessel 10 then compares the size of the detected free areas 24 with the determined minimum size and selects the free area 24, which is expected to be within the maneuvering area 12 during the planned maneuver execution and will have at least the minimum size for carrying out the driving maneuver, for carrying out the merging maneuver.

[0038] As from Fig. 3 and Fig. As can be seen in Figure 4, the maneuvering vessel adapts its own driving behavior to the anticipated driving behavior of the cooperating vessels 20 in order to execute the planned merging maneuver after the maneuvering vessel 10 has selected a free area 24 for the execution of the merging maneuver. Adapting the driving behavior of the maneuvering vessel 10 to the anticipated driving behavior of the cooperating vessels 20 includes adjusting the trajectory of the maneuvering vessel 10 to reach the selected free area 24, provided it is located within the maneuvering area 12. The trajectory can be adjusted, for example, by setting a selected distance-time profile and thus by setting suitable acceleration or deceleration values. Furthermore, while the maneuvering vessel 10 is approaching the free area 24, a cyclical check regarding the feasibility of the driving maneuver can take place.

[0039] Fig. Figure 5 also shows a traffic situation during the execution of the inventive method for the autonomous or semi-autonomous execution of a cooperative driving maneuver. A cooperative vehicle 26 identifies a maneuvering area 28 of a road 30 in which a driving maneuver by another vehicle can be expected. In this traffic situation, the cooperative vehicle detects an area in which a merging maneuver by a maneuvering vehicle is to be expected. Furthermore, the cooperative vehicle 26 communicates with several vehicles 32, 34 via vehicle-to-vehicle communication to detect a maneuvering vehicle 34 that plans to execute a merging maneuver in the maneuvering area 28. The cooperative vehicle 26 also determines an approach time period in which it is expected to reach the maneuvering area 28.For this purpose, the cooperation vehicle 26 predicts, taking into account its driving situation, the theoretically shortest approach time to the maneuver area 28 and the theoretically longest approach time to the maneuver area 28.

[0040] The shortest approach time depends on the speed of the traffic in the vicinity of the cooperation vehicle 26 and the applicable traffic regulations. The longest approach time also depends on the speed of the traffic in the vicinity of the cooperation vehicle 26 and on a predetermined minimum speed for the maneuver to be performed, namely merging. To detect the maneuvering vehicle 34, the cooperation vehicle 26 determines approach zones 36 of the road 30 from which the maneuver zone 28 is theoretically reachable within the approach time.

[0041] How Fig. As shown in Figure 6, vehicles 32 and 34 are filtered according to their relevance to the expected maneuver. Vehicles 32 that are not considered potential maneuver vehicles are not further considered. However, vehicles 32 can still be monitored or observed to detect any course changes by a vehicle 32 into maneuver area 28 and to identify any resulting changes to or unavailability of maneuver area 28, taking appropriate action as necessary.

[0042] The cooperation vehicle 26 predicts the driving behavior of the potential maneuvering vehicle 34 using data received via vehicle-to-vehicle communication. Simultaneously, the cooperation vehicle 26 predicts its own driving behavior. Thus, the predicted driving behavior of the potential maneuvering vehicle 34 can be compared with the predicted driving behavior of the cooperation vehicle 26, allowing the potential maneuvering vehicle to be identified as the actual maneuvering vehicle 34.

[0043] As from Fig. 7 and Fig. As shown in Figure 8, the cooperating vehicle 26 adapts its own driving behavior to the anticipated driving behavior of the maneuvering vehicle 34 in order to support the planned merging maneuver of the maneuvering vehicle 34. Adapting the driving behavior of the cooperating vehicle 26 to the anticipated driving behavior of the maneuvering vehicle 34 involves adjusting the trajectory of the cooperating vehicle 26 to enlarge a free area 38 in which the merging maneuver of the maneuvering vehicle 34 can be executed within the maneuvering area. During trajectory adjustment, the cooperating vehicle 26 projects the maneuvering vehicle 34 as an imaginary object onto its own lane. Subsequently, a distance control to the projected object can be implemented. The trajectory can be adjusted, for example, by setting a suitable distance-time profile and thus by setting appropriate acceleration or deceleration values.During the approach to maneuver area 28, a cyclical review is carried out regarding the feasibility of the driving maneuver of the maneuvering vehicle 34.

[0044] Fig. Figure 9 shows a vehicle 10, 26 according to the invention. The vehicle 10, 26 comprises a communication device 40 for communicating with other vehicles by means of vehicle-to-vehicle communication and a control device 42 for autonomously or semi-autonomously executing a driving maneuver. The vehicle 10, 26 is configured to perform the method for autonomously or semi-autonomously executing a cooperative driving maneuver according to any one of claims 1 to 9 as a maneuvering vehicle 10 and / or cooperative vehicle 26.

[0045] The method proposed here allows for the safe and effective execution of a cooperative driving maneuver through the use of vehicle-to-vehicle communication, regardless of whether the maneuvering vehicle and the one or several cooperating vehicles detect each other through their vehicle sensors. Reference symbol list 10 maneuvering vehicles 12 Maneuver area 14th Street 16 vehicles 18 potential cooperation vehicles 20 cooperation vehicles 22 Approach area 24 free space between vehicles 26 cooperation vehicles 28 Maneuver area 30 Street 32 vehicles 34 Maneuvering craft 36 Approach area 38 free space between vehicles 40 Communication device 42 Control unit

Claims

[1] Methods for autonomously or semi-autonomously performing a cooperative driving maneuver, characterized by , that a maneuvering vessel (10) which plans to execute a driving maneuver performs the following steps: - Determining a maneuvering area (12) of a road (14) in which the driving maneuver is potentially executable, - Communicate with one or more vehicles (16, 18, 20) via vehicle-to-vehicle communication to detect one or more cooperating vehicles (20) that are expected to be within the maneuver area (12) during the execution of the driving maneuver, and - Adapting one's own driving behavior to the anticipated driving behavior of one or more cooperation vehicles (20) in order to execute the planned driving maneuver, characterized by , that the maneuvering vessel (10) performs the following steps to detect the one or more cooperation vessels (20): - Determining the message formats of messages received via vehicle-to-vehicle communication; and - Identifying one or more potential cooperation vehicles (18, 20) based on the message format sent by these vehicles (18, 20), whereby vehicles sending Environmental Perception Messages, EPM, are considered as potential cooperation vehicles. [2] Method according to claim 1, characterized by , that the maneuvering vessel (10) determines an approach time period in which it is expected to reach the maneuvering area (12). [3] Method according to any one of the preceding claims, characterized by , that the maneuvering vessel (10) performs one, several or all of the following steps to detect the one or more cooperation vessels (20): - Determining approach areas (22) of the road (14) from which the maneuvering area (12) is theoretically reachable within the approach time period; - Determining one or more potential cooperation vehicles (18, 20) located in the approach areas (22) using data received via vehicle-to-vehicle communication, - Predicting the driving behavior of each potential cooperation vehicle using data received via vehicle-to-vehicle communication, - Predicting one's own driving behavior, - Comparing the predicted driving behavior of one or more potential cooperation vehicles (18, 20) with the predicted own driving behavior to identify one or more cooperation vehicles (20). [4] Method according to any one of the preceding claims, characterized by, that the maneuvering vehicle (10) continuously detects and evaluates the development of free areas (24) between vehicles (16, 18, 20) and preferably performs one, several or all of the following steps: - Determining the minimum size of a free area (24) for carrying out the driving maneuver, preferably depending on the speed at which the free area (24) moves, the vehicle dimensions of the maneuvering vehicle (10) and / or a safety distance; - Comparing the size of the detected free areas (24) with the determined minimum size, - Selecting a suitable free area (24) which is expected to be within the maneuver area (12) during the planned execution of the maneuver and which will be at least the minimum size required to carry out the driving maneuver. [5] Method according to claim 4, characterized by, that adapting the driving behavior of the maneuvering vehicle (10) to the expected driving behavior of the one or more cooperating vehicles (20) includes the following step: - Adjusting the trajectory of the maneuvering vehicle (10) to reach the selected free area (24) when it is located within the maneuvering area (12), preferably cyclically checking the feasibility during the approach to the free area (24). [6] A method according to any of the preceding claims, comprising the following steps: - Determining a maneuvering area (28) of a road (30) in which a driving maneuver of a vehicle can be expected, - Communicating the cooperation vehicle (26) with one or more vehicles (32, 34) via vehicle-to-vehicle communication to detect a maneuvering vehicle (34) which is planning to execute a driving maneuver and is expected to be within the maneuvering area (28) during the execution of the driving maneuver, and - Adapting the driving behavior of the cooperation vehicle (26) to the expected driving behavior of the maneuvering vehicle (34) in order to support the planned driving maneuver of the maneuvering vehicle (34). [7] Method according to claim 6, characterized by , that the cooperation vehicle (26) determines the maneuver area (28) and / or an approach period in which it is expected to reach the maneuver area (28). [8] Method according to claim 6 or 7, characterized by , that the cooperation vessel (26) performs one, several or all of the following steps to detect the maneuvering vessel: - Determining the message formats of messages received via vehicle-to-vehicle communication; - Identifying one or more potential maneuvering vessels (34) based on the message format transmitted by those vessels (34); - Determining approach areas (36) of the road (30) from which the maneuvering area (28) is theoretically reachable within the approach time period; - Identifying one or more potential maneuvering vehicles (34) located in the approach areas (36) using data received via vehicle-to-vehicle communication, - Predicting the driving behavior of each potential maneuvering vehicle using data received via vehicle-to-vehicle communication, - Predicting one's own driving behavior, - Comparing the predicted driving behavior of one or more potential maneuvering vehicles (34) with the predicted driving behavior of the operator to identify one or more maneuvering vehicles (34). [9] Method according to any one of claims 6 to 8, characterized by , that adapting the driving behavior of the cooperating vehicle (26) to the expected driving behavior of the maneuvering vehicle includes the following step: - Adjusting the trajectory of the cooperating vehicle to enlarge a free area (38) in which the maneuvering vehicle's driving maneuver can be carried out within the maneuvering area (28). [10] vehicle (10, 26), with - a communication device (40) for communicating with other vehicles by means of vehicle-to-vehicle communication, and - a control device (42) for autonomous or semi-autonomous execution of a driving maneuver, wherein the vehicle (10, 26) is configured to perform the method for autonomous or semi-autonomous execution of a cooperative driving maneuver according to one of claims 1 to 9 as a maneuvering vehicle (10) and / or cooperative vehicle (26).

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