Method for at least partially automated operation of a motor vehicle

Abstract

Method for the at least partially automated operation of a motor vehicle (1), comprising the steps: - determination on the motor vehicle side of a plan trajectory (8, 17, 20) to be followed by the motor vehicle (1) within the scope of at least partially automated operation, - transmission of planning data relating to the planning trajectory (8, 17, 20) from the motor vehicle (1) to a central facility (5) on the infrastructure side, - Evaluation of a release condition, the fulfilment of which depends on the planning data, by the central facility (5), - transmitting a release message from the central device (5) to the motor vehicle (1) if the release condition is met, and sending a change message from the central device (5) to the motor vehicle (1) if the release condition is not met, wherein upon receipt of a change message the motor vehicle-side determination of the plan trajectory (8, 17, 20) is repeated to determine a different plan trajectory (8, 17, 20).

Description

[0001] The invention relates to a method for the at least partially automated operation of a motor vehicle. The invention also relates to a motor vehicle and a central control unit.

[0002] Parking processes are currently mostly manual, meaning the driver drives their vehicle from the entrance to a parking space. They are responsible for all processes. Parking guidance systems can be used to assist the driver in choosing a route within the parking garage.

[0003] In order to relieve the driver of such parking maneuvers, it is in principle possible to guide the vehicle to a target position at least partially automatically. With partially automated guidance, the longitudinal and lateral guidance of the vehicle is carried out by a control device on the vehicle. It is possible for this guidance to be possible without constant monitoring of the driver, which is also referred to as highly or fully automated operation of the vehicle. To realize at least partially automated operation, a digital a-priori map of the vehicle's surroundings can be used to plan a route and, with the aid of sensors, to move the vehicle along this route in a collision-free manner. Self-localization with respect to the digital map can be achieved, for example, by a satellite-based navigation system.

[0004] Such an approach is known, for example, from document DE 10 2014 221 777 A1. Here, a digital map of a parking space and a target position are received by the motor vehicle via a communications network, after which the motor vehicle navigates autonomously within the parking space to the target position based on the digital map.

[0005] The German patent document DE 197 47 230 A1 discloses an approach to route search in which a starting point and a destination are transmitted from the motor vehicle to a central computer. The central computer generates a route plan, taking additional traffic information into account. Using a digital road map, location codes are determined for the route sections used by the determined route and transmitted to the motor vehicle. The route sections identified in this way are modified in the motor vehicle's internal digital road map so that they are given priority over other route sections when planning a route.

[0006] German patent application DE 10 2012 021 282 A1 discloses a method for coordinating the operation of fully automated motor vehicles. The trajectory data of the vehicles is exchanged and checked for conflicts. If a conflict exists, the trajectory of at least one vehicle involved in the conflict is adjusted based on an arbitration rule evaluated by an arbitration device. In this case, exactly one arbitration device is supposed to perform all necessary trajectory adjustments.

[0007] The problem with existing approaches to trajectory planning is that, with on-board trajectory planning, coordination of driving operations between different vehicles is hardly possible or involves considerable coordination effort. Furthermore, the vehicle does not have any information about obstacles that are not mapped and cannot be detected by the vehicle's sensors. Trajectory planning is therefore only possible with a very limited planning horizon. However, outsourcing trajectory planning to a central facility also has significant disadvantages. Firstly, the central facility cannot robustly assess whether a particular trajectory is actually drivable by a particular vehicle.In addition, the same level of detail in trajectory planning cannot often be achieved as with vehicle-side planning, since infrastructure-side sensors can typically only record relatively coarse-resolution environmental data.

[0008] The invention is therefore based on the object of providing an improved method for planning at least partially automated driving operations.

[0009] The object is achieved according to the invention by a method for the at least partially automated operation of a motor vehicle, which comprises the following steps: - determination on the vehicle side of a planned trajectory to be followed by the motor vehicle within the framework of at least partially automated operation, - Transmission of planning data relating to the planning trajectory from the motor vehicle to a central facility on the infrastructure side, - Evaluation of a release condition, the fulfillment of which depends on the planning data, by the central facility, - transmitting a release message from the central device to the motor vehicle if the release condition is met, and sending a change message from the central device to the motor vehicle if the release condition is not met, wherein upon receipt of a change message the vehicle-side determination of the plan trajectory is repeated to determine a different plan trajectory.

[0010] According to the invention, it is therefore proposed to carry out trajectory planning on the vehicle side, thereby achieving the advantages of vehicle-side planning. In particular, high-resolution sensor data available in the vehicle can be used, and specific properties of a vehicle can be taken into account in the planning. For example, turning radii, acceleration or braking performance, and / or, for example, the possibility of adjusting a chassis using on-board actuators can be taken into account. However, since approval or a change request is issued by a central facility, robust coordination between multiple vehicles can be achieved, and obstacles known exclusively to the central facility can be taken into account early in the planning process.This approach can significantly expand the planning horizon for at least partially automated vehicle control. Since the central system ultimately decides on the execution of the planned trajectories, a defined system state and predictable vehicle behavior can be ensured at all times.

[0011] The planning data transmitted to the central device can describe the planned trajectory in detail. However, it is also possible for them to only describe which sub-areas of the vehicle's surroundings or a driving area assigned to the central device are covered by this planned trajectory. This can, in particular, be specified on a time-dependent basis, or the planning trajectory can be planned on a time-dependent basis. For example, specific times can be determined at which certain segments of the planned trajectory are expected to be traveled, or driving speeds can be determined for certain sections. As will be explained in more detail later, it is possible for the central device to suggest a suggested trajectory. If the motor vehicle adopts this as the planning trajectory, it may be sufficient for the planning data to indicate that this is the case.

[0012] The planning trajectory planning described above can be performed repeatedly, in particular periodically, during the driving operation of the motor vehicle until the at least partially automated operation of the motor vehicle is terminated and / or a target position is reached. For example, planning trajectories can be determined every second or at intervals of several seconds. However, shorter or longer time intervals can also be used.

[0013] Preferably, matching map data is used to determine the planned trajectory on the motor vehicle side and to check the release condition on the central device side. This makes it possible to assign identical identifications to identical elements and sub-areas in the vehicle's surroundings or in a driving area assigned to the central device, both on the motor vehicle side and the central device side, so that, for example, information relating to the guidance of a trajectory through such a sub-area or the blocking or clearness of such a sub-area can be exchanged easily and reliably between the motor vehicle and the central device.

[0014] The map data can, in particular, be synchronized or exchanged between the central device and the motor vehicle. For example, when the motor vehicle enters a driving zone assigned to the central device, the central device can transmit map data relating to that driving zone to the motor vehicle.

[0015] Before determining the planned trajectory and / or as part of the change message, a target position to be reached by the planned trajectory and / or a suggested trajectory determined by the central device for the at least partially automated operation of the motor vehicle and / or at least one trajectory rule to be fulfilled by the planned trajectory and / or sensor data relating to a driving area assigned to the central device can be transmitted from the central device to the motor vehicle. Such a transmission of advance information can potentially determine a better planned trajectory and / or accelerate the determination of the planned trajectory because additional information is available to the motor vehicle.In addition, the probability of determining a plan trajectory that satisfies the release condition is increased, which means that no or fewer iterations may be required in determining the plan trajectory.

[0016] The planned trajectory can be determined on the vehicle side based on the transmitted data. This means that the planned trajectory can be determined based on the target position and / or the suggested trajectory and / or the trajectory rule and / or the sensor data. For example, the suggested trajectory can be used as the starting point for planning and only varied locally or with regard to its temporal progression in order to achieve drivability by the vehicle and / or to take into account obstacles detected by the vehicle. The planned trajectory can be determined in such a way that it leads to the target position and / or the trajectory rule is fulfilled.

[0017] In addition to or as an alternative to the information mentioned above, the central device can transmit information about other road users in the driving area to the motor vehicle, and this information can be taken into account when determining the planned trajectory. The other road users can be motor vehicles, for which planned trajectories are also determined and transmitted to the central device. Alternatively or additionally, however, other road users, such as manually operated vehicles and / or pedestrians, can also be taken into account. Alternatively, it is possible to take information about other road users into account when specifying the target position and / or the trajectory rule and / or the suggested trajectory. In particular, appropriate formulation of the trajectory rule can help avoid conflicts between different road users.

[0018] The trajectory rule can describe at least one restricted area and / or target area of the driving range, with the planned trajectory being determined such that, when guided according to the planned trajectory, the motor vehicle is consistently within the target area and / or consistently outside the restricted area. It is thus possible to define the driving range that is usable or that should be used positively or negatively. The target area and / or restricted area can be specified based on time. For example, certain areas of the driving range can only be restricted if they are to be used to guide another road user within that area.

[0019] The trajectory rule can also specify at least one path or lane to be traveled. The path or lane can specify the geometry of the planned trajectory, whereby a temporal sequence of the planned trajectory can be determined by the motor vehicle. It is also possible for at least one section of the planned trajectory or path or lane to be specified, whereby trajectory planning outside of this section takes place solely on the motor vehicle side and / or whereby at least one of the sections is selected on the motor vehicle side and taken into account when determining the planned trajectory.

[0020] The map data can describe multiple sub-areas of a driving area or of the driving area assigned to the central device, with the planned trajectory being determined in such a way that it covers the same sub-areas covered by the suggested trajectory. The suggested trajectory can thus roughly specify through which sub-areas, for example, along which streets or sections of road, the motor vehicle should be guided, while the planned trajectory can specify, in particular, more detailed guidance of the motor vehicle within these sub-areas.

[0021] The suggested trajectory can be used as a planned trajectory if, through the evaluation of sensor data recorded by the vehicle and / or vehicle data relating to the vehicle, it is determined that it is likely to be drivable. For example, a suggested trajectory may not be drivable if a vehicle-mounted sensor system detects an obstacle that blocks travel along the suggested trajectory. Taking vehicle data into account makes it possible, in particular, to check the kinematic feasibility of the suggested trajectory by the vehicle. For example, it can be checked whether the suggested trajectory is drivable with the turning circle achievable by the vehicle or whether a suggested trajectory that is specified as a function of time is drivable with the acceleration and braking capabilities of the vehicle.Other parameters of the motor vehicle may also be taken into account, such as a low ground clearance of the vehicle, which may prevent it from driving over certain bumps or sudden changes in gradient.

[0022] The transmitted sensor data can be acquired using infrastructure-based sensors. Additionally or alternatively, additional sensor data can be collected by other vehicles and initially transmitted to the central device, which can then provide it to the vehicle.

[0023] Before and / or during the guidance of the motor vehicle according to the planned trajectory, the current position and / or current speed of the motor vehicle can be transmitted to the central device. If the motor vehicle is still being guided manually or is stationary at this time, this information can be used by the central device to coordinate between the various road users in the driving area. Additionally or alternatively, the central device can monitor the driving operation of the motor vehicle based on the transmitted information, for example, to detect deviations from a planned trajectory.

[0024] The driving operation of the motor vehicle can be monitored during guidance according to the planned trajectory, whereby an amended planned trajectory is determined if the driving operation of the motor vehicle deviates from the planned trajectory already and / or is expected to deviate in the future. The amended planned trajectory can be determined in particular if a measure of the deviation is greater than a predetermined limit. The amended planned trajectory can be determined as described above. In particular, the planned trajectory can first be determined on the motor vehicle side and transmitted to the central device, after which the central device can release the planned trajectory or request the determination of a different planned trajectory. If the driving operation is monitored by the central device, a reason for the replanning can be transmitted as part of the replanning request.However, if the vehicle plans a modified plan trajectory without being asked to do so, a reason for the new planning can also be transmitted.

[0025] Monitoring of driving operation can be performed on the vehicle side. In particular, the vehicle side can detect that a future deviation from the planned trajectory will be necessary, for example, because a previously undetected obstacle is detected. If this is detected in a timely manner, the vehicle's driving operation can initially continue according to the already approved planned trajectory while the vehicle plans a modified planned trajectory and has it approved by the central device.

[0026] Alternatively or additionally, monitoring can also be performed by the central device. The position and / or speed of the motor vehicle can be transmitted from the motor vehicle to the central device and / or recorded by sensors, particularly by sensors on the infrastructure. The central device can also detect that the vehicle's guidance is likely to deviate from the planned trajectory in the future if an obstacle is detected in the area of the planned trajectory by sensors on the infrastructure or due to data transmission by a third party.

[0027] In addition to the method according to the invention, the invention relates to a motor vehicle having a communication device for communicating with a central device and a control device for at least partially automated guidance of the motor vehicle, wherein the control device is designed to carry out the method according to the invention. The control device can control at least one actuator of the motor vehicle in order to guide the motor vehicle at least partially automatically. Preferably, the motor vehicle has a sensor system on the vehicle for detecting the vehicle's surroundings and / or a position-determining device for determining the motor vehicle's own position. The own position can be used to localize the motor vehicle with respect to the specified map data.

[0028] Furthermore, the invention relates to a central device comprising a communication device for communicating with at least one motor vehicle and a processing device controlling the communication device, wherein the processing device is configured to carry out the method according to the invention. Preferably, the central device comprises a sensor system on the infrastructure device side, or an infrastructure-side sensor system provides information to the central device.

[0029] The motor vehicle according to the invention and the central device according to the invention can be further developed with the features explained for the method according to the invention with the advantages explained there and vice versa.

[0030] Further advantages and details of the invention will become apparent from the following exemplary embodiments and the accompanying drawings. The figure schematically shows a driving situation in which an exemplary embodiment of the method according to the invention is implemented by an exemplary embodiment of the motor vehicle according to the invention and an exemplary embodiment of the central device according to the invention.

[0031] The figure shows a driving situation in which a motor vehicle 1 is to be automatically parked in an infrastructure facility 2, for example a parking garage. Automated parking can preferably be carried out without continuous supervision by a driver, in particular without a driver being in the motor vehicle 1. In principle, however, partially automated operation of the motor vehicle 1 would also be possible, in which the longitudinal and lateral guidance of the motor vehicle is carried out automatically by the control device 7 actuating an actuator (not shown) of the motor vehicle 1 accordingly, but the driving operation is continuously monitored by the driver.

[0032] When entering a driving area assigned to the infrastructure 2, the motor vehicle 1 communicates with the central device 5 via the vehicle-mounted communication device 3 and the communication device 4 of a central device 5 in order to obtain information regarding the automatic guidance or to enable coordination of the driving operation of the motor vehicle 1 with other motor vehicles, for example the motor vehicle 9. Data is exchanged between the central device 5 and the motor vehicle 1 in particular repeatedly, for example at fixed time intervals. The motor vehicle can, for example, transmit its positions determined via a positioning device 21, for example a satellite-based positioning system, and / or its current driving speed and / or direction of travel to the central device 5.The position of the motor vehicle could also be determined by detecting natural or artificial landmarks in the surrounding data. These landmarks can be recorded in digital map data, so that the position of the motor vehicle can be determined by determining its relative position to, in particular, several landmarks.

[0033] When entering the infrastructure facility 2, a target position 6, for example an assigned parking space, is first transmitted from the central facility 5 to the motor vehicle 1 as part of an initial communication. To also ensure that the motor vehicle 1 and the central facility 5 use a common database when planning driving operations, the central facility 5 provides the motor vehicle 1 with digital map data describing the infrastructure facility 2, in particular the routes or non-driveable areas there. In addition, unique identifications can be assigned to sub-areas or objects in this map data so that they can be referenced during communication between the motor vehicle 1 and the central facility 5. For example, the sub-areas 13, 14, 15, 16 of the driving area assigned to the central facility 5 can be identified in the map data.In addition, other elements, such as walls 22 or other obstacles, may also be identified in the map data.

[0034] Based on the received map data and the received target position, the control device 7 of the motor vehicle 1 plans a plan trajectory 8 that guides the motor vehicle 1 to the target position 6 or to the target position 6. As in Fig. As shown in Figure 1, the shortest route is initially selected. Although this route is not actually passable because it is blocked by the oncoming motor vehicle 9, since the oncoming motor vehicle 9 cannot yet be detected by the sensor system 10 of the motor vehicle 1, this fact cannot be taken into account when planning the planned trajectory 8.

[0035] In order to utilize additional information from the central device 5 or to enable coordination of the operation of the motor vehicles 1, 9, the motor vehicle 1 transmits planning data relating to the planned trajectory 8 to the central device 5. The planning data can describe the planned trajectory 8 in detail; however, it is also possible to transmit only a reduced amount of information, for example, only that this trajectory covers the driving areas 13, 16. In particular, the planning data also describe a time dependency of the planned trajectory. If the planned trajectory is transmitted, for example, times assigned to individual waypoints of the planned trajectory, at which these are expected to be reached, and / or driving speeds can be transmitted.If, for example, only an occupancy of certain sub-areas 13, 16 is transmitted, it can also be transmitted when these sub-areas 13, 16 are expected to be occupied by motor vehicle 1.

[0036] The processing device 11 of the central device 5 then evaluates a release condition, the fulfillment of which depends on whether the planned trajectory 8 is likely to be drivable according to the data collected in the central device or whether driving along the planned trajectory 8 is likely to impede the movement of other motor vehicles 9. The central device 5 contains information that is not initially available in the motor vehicle 1. On the one hand, sensor data from an infrastructure-side sensor system 12, 24 can be recorded, which, for example, can already identify the motor vehicle 9 and its direction of travel and speed.To enable efficient coordination of the driving operations of multiple motor vehicles 1, 9, the positions and / or speeds of the motor vehicles 1, 9, and in particular also driving intentions, such as planned trajectories or currently traveled trajectories, can be transmitted to the central device. Based on this information, it is determined whether the planned trajectory 8 is likely to be drivable or is appropriate for coordinating motor vehicles 1, 9.

[0037] If this is the case, the release condition is met and the central device 5 transmits a release message to the motor vehicle 1. Upon receipt of this release message, the control device 7 can control the actuators (not shown) in order to guide the motor vehicle along the plan trajectory 8.

[0038] As explained above, however, the planned trajectory 8 is not accessible in this case, which is why the release condition is not met. The central device 5 therefore sends a change message to the motor vehicle 1 to instruct it or its control device 7 to determine a different planned trajectory. To achieve efficient planning, additional information can be transmitted to the motor vehicle as part of the change message or separately. Various options for this are explained below. In principle, it would also be possible to transmit this information before the first planned trajectory 8 is planned.

[0039] The central device 5 can transmit a trajectory rule to the motor vehicle 1, which must be fulfilled by the planned trajectory. In the example shown, the trajectory rule could, for example, state that sub-area 16 is a restricted area, with the planned trajectory then being determined such that the motor vehicle, when guided according to the planned trajectory, is consistently outside the restricted area. By predicting the driving operation of the motor vehicle 9, restriction times for corresponding restricted areas can also be determined, which indicate when these restricted areas are blocked. Conversely, it would also be possible to use the trajectory rule to specify, for example, sub-areas 13, 14, 15 as target areas through which the planned trajectory is to be guided. Using the explained trajectory rules, the motor vehicle can determine the planned trajectory 17 and transmit it to the central device.Since, as far as can be recognized by the central device 5, this is drivable and does not obstruct any other motor vehicles 9, the central device 5 then transmits a release message to the motor vehicle 1, after which the automated driving operation along the trajectory 17 can be started.

[0040] In an alternative embodiment, it would be possible for the central device 5 to transmit the sensor data from the infrastructure-side sensors 12, 24 to the motor vehicle 1. Based on this sensor data, the control device 7 of the motor vehicle 1 can recognize that the partial area 16 should be avoided and thus also determine the planned trajectory 17.

[0041] If a large part of the trajectory planning is to be carried out by the central device, it is also possible for the processing device 11 to already determine a suggested trajectory along which the motor vehicle 1 could potentially be guided and to transmit this to the motor vehicle 1. In this case, the control device 7 of the motor vehicle 1 can, by evaluating the data from the vehicle's own sensor system 10, determine whether the travel along the suggested trajectory is impeded by obstacles that may not be known to the central device 5. In addition, vehicle data can be taken into account that describe the driving capabilities, dimensions, or similar of the motor vehicle. For example, it can be checked whether the suggested trajectory is drivable with the available acceleration and braking potential of the motor vehicle 1, its turning circle, and its dimensions.If the control device 7 determines that the suggested trajectory is likely to be drivable, it can be adopted as the planned trajectory, and corresponding planning data, which can also simply indicate that the planned trajectory corresponds to the suggested trajectory, can be transmitted to the central device 5 to await final approval. If the suggested trajectory is not immediately drivable, it can be varied to arrive at a planned trajectory. For example, curve radii can be adjusted, bulges added to avoid obstacles, or the like. Preferably, the planned trajectory is determined such that it leads through the same sub-areas 13 to 16 of the driving area as the suggested trajectory.

[0042] While the motor vehicle 1 is driving along the planned trajectory 17, it is continuously determined whether replanning of the planned trajectory 17 is necessary. Such replanning is necessary, for example, if the central device 5 detects, based on received position or speed data of the motor vehicle 1 and / or based on the infrastructure-side sensors 12, 24, that the driving operation of the motor vehicle 1 deviates from the planned trajectory 17. In this case, a request for replanning can be sent to the motor vehicle 1, wherein, in particular, the reason for the replanning, i.e., the deviation from the planned trajectory 17, can also be transmitted.

[0043] On the other hand, replanning of the planned trajectory can also be initiated on the motor vehicle side. For example, when motor vehicle 1 reaches position 18, the presence of an obstacle 19 that prevents further travel along the planned trajectory 17 can be detected by the vehicle-mounted sensor system 10. Motor vehicle 1 can send a corresponding message, in particular together with a modified planned trajectory 20, to the central device 5. As explained above, the release condition for the modified planned trajectory 20 is checked, and either a release message or a change message is sent to motor vehicle 1.If the position 18, at which the planning of the changed plan trajectory 20 begins, is sufficiently far away from the position 23, at which the previous plan trajectory 17 and the new plan trajectory 20 separate, the driving operation along the plan trajectory 17 can initially be continued while the changed plan trajectory is determined and released by the central device 5.

Claims

[1] Method for the at least partially automated operation of a motor vehicle (1), comprising the steps: - determination on the motor vehicle side of a plan trajectory (8, 17, 20) to be followed by the motor vehicle (1) within the scope of at least partially automated operation, - transmission of planning data relating to the planning trajectory (8, 17, 20) from the motor vehicle (1) to a central facility (5) on the infrastructure side, - Evaluation of a release condition, the fulfilment of which depends on the planning data, by the central facility (5), - transmitting a release message from the central device (5) to the motor vehicle (1) if the release condition is met, and sending a change message from the central device (5) to the motor vehicle (1) if the release condition is not met, wherein upon receipt of a change message the motor vehicle-side determination of the plan trajectory (8, 17, 20) is repeated to determine a different plan trajectory (8, 17, 20). [2] Method according to claim 1, characterized by that matching map data are used to determine the plan trajectory (8, 17, 20) on the motor vehicle side and to check the release condition on the central device side (5). [3] Method according to claim 1 or 2, characterized bythat before the determination of the planned trajectory (8, 17, 20) and / or within the scope of the change message, a target position (6) to be reached by the planned trajectory (8, 17, 20) and / or a proposed trajectory determined by the central device for the at least partially automated operation of the motor vehicle (1) and / or at least one trajectory rule to be fulfilled by the planned trajectory (8, 17, 20) and / or sensor data relating to a driving range assigned to the central device (5) are transmitted from the central device (5) to the motor vehicle (1). [4] Method according to claim 3, characterized byin that the trajectory rule describes at least one restricted area and / or a target area of the driving range, wherein the planned trajectory (8, 17, 20) is determined in such a way that the motor vehicle (1) is continuously located within the target area or continuously outside the restricted area when guided according to the planned trajectory (8, 17, 20). [5] Method according to claim 2 and claim 3 or 4, characterized by that the map data describe a plurality of sub-areas (13 - 16) of a driving area or of the driving area assigned to the central device (5), wherein the planned trajectory (8, 17, 20) is determined in such a way that it covers the same sub-areas (13 - 16) that are covered by the proposed trajectory. [6] Method according to one of claims 3 to 5, characterized bythat the proposed trajectory is used as a planned trajectory (8, 17, 20) if it is determined by evaluating sensor data recorded on the motor vehicle side and / or motor vehicle data relating to the motor vehicle (1) that it is likely to be drivable. [7] Method according to one of claims 3 to 6, characterized by that the transmitted sensor data are determined with the aid of an infrastructure-side sensor system (12, 24). [8] Method according to one of the preceding claims, characterized by that before and / or during the guidance of the motor vehicle (1) according to the plan trajectory (8, 17, 20), the current position and / or the current speed of the motor vehicle (1) are transmitted to the central device (5). [9] Method according to one of the preceding claims, characterized bythat the driving operation of the motor vehicle (1) is monitored during guidance according to the planned trajectory (8, 17, 20), wherein in the event of an already occurred and / or an expected future deviation of the driving operation of the motor vehicle (1) from the planned trajectory (8, 17, 20), a modified planned trajectory (8, 17, 20) is determined. [10] Motor vehicle with a communication device (3) for communication with a central device (5) and a control device (7) for at least partially automated control of the motor vehicle (1), characterized by that the control device (7) is designed to carry out the method according to one of the preceding claims. [11] Central device with a communication device (4) for communication with at least one motor vehicle (1) and a processing device (11) controlling the communication device (4), characterized bythat the processing device (11) is arranged to carry out the method according to one of claims 1 to 9.

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