PROCEDURE FOR HANDLING A RULE CARD

Description

[0001] The invention relates to a method for handling a control card containing traffic rules in a vehicle.

[0002] Traffic rules today are generally established by generally applicable rules such as right-of-way, traffic signs, traffic lights, or traffic police. Individually steerable vehicles such as cars or bicycles, rail vehicles such as trams, and even pedestrians avoid potential collisions and accidents by observing these rules. This applies, for example, to right-of-way rules, but also to other traffic rules such as no-overtaking rules.

[0003] In today's vehicles and other road users, traffic rules are usually read by the driver or pedestrian from traffic signs, traffic lights or traffic police, or determined based on a specific traffic situation. For example, a driver can tell from the lack of traffic signs at an intersection that the basic right-before-left rule applies there. Accordingly, they can deduce from other vehicles at the intersection whether they have the right of way or not, i.e. whether they must yield the right of way. If the driver sees a traffic police officer, they can also determine whether they may proceed or not. When a vehicle approaches an intersection, for example an entrance to a motorway or other major road, the driver can determine, depending on the laws in force in the country, whether a vehicle merging must wait for a gap in the flow of traffic or whether the entering vehicle must be given priority.

[0004] Manually recording traffic rules always carries the risk of human error. Incorrect recording or even deliberate disregard of traffic rules results in a very high risk of accidents. Therefore, systems have already been developed that, for example, use a camera to record traffic rules and assist the driver in observing them. However, these systems cannot prevent an accident, especially if at least one traffic rule is incorrectly recorded for at least one vehicle involved in a situation requiring control. This can occur, for example, due to technical errors or difficult detection situations such as a snow-covered traffic sign.

[0005] Document US 2014 / 0278029 A1 discloses methods and software for managing the priorities of vehicles approaching a conflict zone. This allows an ad-hoc network to be established for developing a local traffic management plan.

[0006] It is therefore an object of the invention to provide an alternative, for example, improved, method for handling traffic regulations. This is achieved according to the invention by a method according to claim 1. Advantageous embodiments can be found, for example, in the dependent claims. The content of the claims is incorporated into the content of the description by express reference.

[0007] The invention relates to a method for handling a control chart containing traffic rules in a vehicle. The method comprises the following steps: Detecting an environmental condition by means of a number of environmental sensors, deriving a number of traffic rules based on the environmental condition, generating the control map based at least on the traffic rules, and sending the control map to an external unit.

[0008] Using the method according to the invention, a traffic rule can not only be automatically recorded in the vehicle, but also sent to an external unit such as another vehicle or a central server. This allows the traffic rules of several vehicles to be compared. For example, the situation in which two crossing vehicles at an intersection indicate to the respective driver that they have the right of way can be prevented, since the vehicles communicate with each other when using the method according to the invention and can recognize any inconsistencies in the recognized traffic rules that could lead to an increased risk of accidents. However, this represents only one possible area of ​​application of the method according to the invention; numerous other applications are possible, for example those described below.

[0009] The use of a control map is particularly advantageous because such a map is not limited to the traffic rules applicable to one's own vehicle, but can also include the traffic rules applicable to other road users, especially vehicles. Such a map creates a framework at a technical level that takes into account not only the traffic rules applicable to oneself, but also those applicable to other road users.

[0010] Traffic rules can include, in particular, right of way or giving way, as well as prohibitions on overtaking. However, other traffic rules can also be processed using the method according to the invention, such as speed limits or no-stopping zones.

[0011] A control map is understood in particular to be a compilation of traffic rules that are assigned, for example, to a situation to be regulated and / or a road section or area to be regulated. In particular, a control map can contain traffic rules that correspond to one another, for example right-of-way rules for each road and each direction of travel of several roads that intersect at an intersection, or right-of-way rules for a motorway and a merging lane of the motorway. Ideally, the traffic rules should correspond to one another in such a way that, if the traffic rules are observed, a collision between the vehicles involved is avoided. For example, this can mean that at an intersection both directions of a through road have right of way, while both directions of an intersecting road have right of way.At a junction, this may mean giving way to through traffic or traffic entering. On a road with overtaking facilities, this may mean temporarily prohibiting overtaking when there is oncoming traffic, for example, prohibiting overtaking a slow-moving vehicle such as a truck or agricultural vehicle.

[0012] An environmental condition can be understood, for example, as an intersection, a number of traffic signs, a number of traffic lights, a number of other vehicles or other road users, an intersection, and / or a road. It can also be understood as a specific situation that appears to require regulation, for example, when a slow-moving vehicle detects oncoming traffic that prevents following vehicles from overtaking.

[0013] The environmental sensors can, for example, be a number of cameras. However, they can also be other environmental sensors, such as ultrasonic sensors, radar devices, vehicle-to-X communication devices, or mobile communication devices. A camera can, for example, detect intersection topologies, traffic signs, junctions, or oncoming vehicles.

[0014] Traffic rules can be recognized, for example, based on recognized traffic signs or intersection topologies. The corresponding traffic rule can typically be derived directly from a recognized traffic sign, such as right of way, give way, or stop. From a recognized intersection topology without recognized traffic signs, the basic right-before-left rule can be derived, whereby a traffic rule for the own vehicle can be derived based on other recognized vehicles. A right-of-way rule can be derived from a recognized junction or entrance, taking local laws and regulations into account. A no-overtaking rule for following vehicles can be derived from detected oncoming vehicles.

[0015] The control map is typically generated by first writing the directly derived rules, for example, based on a detected yield sign, into the control map. Then, the corresponding mandatory traffic rules are written into the control map. For example, giving way to one's own vehicle might correspond to giving way to cross traffic, as otherwise an accident would be imminent. Giving way to a vehicle passing through on a highway might correspond to giving way to a vehicle merging into the highway.

[0016] By sending the control chart to the external unit, a check can be performed to determine whether the control chart corresponds to other control charts or, when combined with other control charts, whether it creates a coherent picture. This specifically means that the control charts contain traffic regulations that result in the lowest possible accident risk.

[0017] A control chart can be used, for example, to display the traffic rules contained therein to the driver on the instrument panel or in a head-up display. However, it can also be used, for example, as part of an autonomous driving system or for an assistance system.

[0018] According to one embodiment, it is provided that the method is carried out in response to an approach to an intersection or junction being detected, wherein the approach is preferably detected by means of environmental sensors, in particular by means of a camera, by means of satellite navigation, by means of an electronic road map and / or by means of vehicle-to-X communication.

[0019] This allows the procedure to be implemented in a situation that particularly requires regulation. This can be particularly the case when several vehicles are approaching and / or are detected. A junction can also be understood as an entrance to a motorway. An intersection can also be understood as a roundabout or other junction or junction of roads.

[0020] Preferably, the derived traffic rules are assigned to the intersection or junction, in particular giving way and giving priority.

[0021] According to one embodiment, it is provided that The method is carried out in response to the detection of a situation requiring regulation, in particular a situation that prevents an overtaking maneuver by following vehicles, or a situation such as merging or overtaking. The situation is preferably detected by means of environmental sensors, in particular by means of a camera, or by means of vehicle-to-X communication.

[0022] This design enables, for example, a slow-moving vehicle such as a truck to detect when oncoming vehicles are preventing a following vehicle from overtaking, and to communicate this to the following vehicles via a corresponding control map, which is sent to the following vehicles. This can significantly increase safety on rural roads, for example, since the truck typically has a better field of vision and better sensors than the following vehicles.

[0023] According to an advantageous further development, the method according to this embodiment is carried out in response to a message received from another vehicle which contains a request to send a control card.

[0024] This allows a following vehicle to query a slow-moving vehicle before attempting to overtake, asking whether overtaking is possible. If no oncoming traffic is detected for the slow-moving vehicle, a control card can be generated that does not prohibit overtaking. If oncoming traffic is detected, a control card can be generated that temporarily prohibits overtaking. This control card is then sent to the following vehicle and indicates whether overtaking is possible or should be avoided.

[0025] The following vehicle can send the request to send a control map, in particular in response to an offer to cooperate in an overtaking maneuver, whereby in this offer the slow-moving vehicle can inform following vehicles that it is able to cooperate in planning an overtaking maneuver. Such an offer can, for example, be sent by the vehicle executing the method according to the invention.

[0026] According to one embodiment, it is provided that after a situation is detected which prevents the overtaking of following vehicles, a temporary overtaking ban is derived as a traffic rule.

[0027] According to one embodiment, it is provided that the method is continuously repeated, in particular periodically repeated for continuous comparison.

[0028] This allows participating vehicles, especially those communicating via direct or indirect radio links or those involved in a situation requiring control, to continuously exchange their control charts, particularly to detect any problems, such as non-corresponding or inconsistent control charts, as early as possible and prevent accidents. The procedure can also be implemented in such a way that a vehicle continuously transmits its respective control chart, regardless of whether it is received by another vehicle or unit.

[0029] According to one embodiment, the control card is sent directly to at least one other vehicle as an external unit.

[0030] This can be achieved, in particular, using vehicle-to-X communication, especially vehicle-to-vehicle communication. This includes, for example, technologies that enable direct communication between vehicles without relying on a mobile network or other external infrastructure.

[0031] According to one embodiment, one or more of the following elements are sent together with the control chart: a license plate of the vehicle sending the control card, an identification of the vehicle sending the control card, an intersection topology, object properties, in particular type, position and / or trajectory, of the vehicle sending the control card, information about a reliability of the control card and / or about a reliability of environmental sensors, in particular a camera, information about vehicles which are not equipped with technology for participating in the coordination of traffic rules, in particular which are not equipped with vehicle-to-X communication technology, and in particular including their license plates, a reliability measure.

[0032] Such information can improve and / or facilitate the evaluation of the control chart by a receiving external unit. A reliability measure can, for example, relate to the quality of the sensors of the transmitting vehicle and thus indicate how reliable the control chart is, for example, whether it can be expected that traffic signs or intersection topologies were actually correctly detected.

[0033] According to one embodiment, the method further comprises the following steps: Comparing the generated control chart with another control chart and triggering a reconciliation process if the control chart and the another control chart do not match.

[0034] This means that if control charts do not agree, a reconciliation process can be triggered, which could, for example, lead to agreeing control charts that further reduce the risk of accidents. In particular, non-consistent control charts are defined as control charts that display at least two different traffic rules for at least one vehicle that is actually present or even just one vehicle that may be present. For example, two non-consistent control charts may be structured in such a way that one control chart displays right of way for a particular road at an intersection in a particular direction, whereas the other control chart displays "give way." Consistent control charts typically display the same traffic rules for all possible vehicle locations.

[0035] If the control charts match, typically no reconciliation process is triggered. In this case, a message can be sent to an external entity, such as other vehicles or a central server, indicating that the control charts match. This indicates that, based on the matching control charts, the intersection can be safely passed by all participating vehicles.

[0036] According to one embodiment, the additional control chart is received directly from another vehicle. This enables, in particular, a comparison between control charts generated by different vehicles, for example, using their respective environmental sensors. However, the additional control chart can also be received from a central server, for example. This enables the use of a global backend, with the central server supporting the vehicles in managing and exchanging control charts.

[0037] According to one embodiment, the coordination process involves the vehicle and other vehicles approaching an intersection or junction, or traveling on the same road. According to another embodiment, which can also be combined with this, the coordination process involves only vehicles for which an intersection of the respective trajectories has been calculated.

[0038] This corresponds to typical groups of vehicles between which a comparison of traffic rules or control charts containing these traffic rules is advantageous.

[0039] According to one embodiment, the coordination process is carried out by multiple direct exchange and comparison of control charts and / or plausibility information between participating vehicles until all participating vehicles have an identical control chart or until a predetermined number of iterations is reached.

[0040] This allows the control charts to be iteratively improved through direct exchange between vehicles, so that all vehicles have the same control chart. Plausibility information can be, for example, accompanying information, such as reliability. This can be the information or data already described above. Information about reliability, such as from environmental sensors, can be used, for example, to give preference to certain control charts or to assign them greater weight if they were generated using particularly reliable sensors.

[0041] According to one embodiment, it is provided that a comparison of control charts and / or plausibility information includes a respective plausibility check, wherein a plausibility check preferably comprises one or more of the following steps: Evaluation and / or weighting of available information, particularly with regard to information from other vehicles, recording the significance and / or reliability of information, checking which other vehicles have identical information or have sent identical information, supplementing information if it is complementary.

[0042] As part of a plausibility check, the respective control charts can be evaluated and / or modified to create a control chart that can then be used by all participating vehicles or that applies to all vehicles. If identical information is available from multiple vehicles, this information typically has a higher confidence level, so it can be given special consideration when creating a common control chart. The same can apply to more significant and / or reliable information.

[0043] Complementary information refers, in particular, to information that can be incorporated unchanged into a single control chart without increasing the risk of collision for vehicles following this control chart. For example, priority for one street and yield for a cross street can be complementary traffic rules and thus complementary information.

[0044] According to one embodiment, when carrying out the voting process, one or more of the following steps are carried out iteratively: Assessing the significance and / or confidence of information with threshold values ​​or probabilities, for example of a dangerous situation or driving mode such as self-driving or automatic driving of a respective vehicle, checking plausibility, for example technically or statistically, compiling information, in particular all available information, merging, in particular creating a new, for example expanded, in particular spatially expanded and / or more precise image, which is in particular consistent in terms of content.

[0045] An image can be understood, for example, as a control chart. It can also be understood as an alternatively represented assessment of a traffic situation or road topology. An image is considered to be content-wise consistent especially when the respective traffic rules correspond to each other, so that the probability of a collision is not increased and / or is minimal when the traffic rules or a control chart generated from them are observed.

[0046] It should be understood that the coordination process can be carried out either on the vehicle that initiated the coordination process, in particular as explained above, or on any other participating vehicle. The method is therefore not limited to execution in one vehicle, especially in this case. It could therefore also be a method that is carried out across multiple vehicles, for example.

[0047] According to one embodiment, the voting process results in a control card which is sent to a number of other vehicles.

[0048] This makes it possible, in particular, to create a control chart which must then be observed by all vehicles.

[0049] According to one embodiment, the method further comprises a step of detecting a blockage when carrying out the voting process.

[0050] A blockade is defined in particular as a situation in which several vehicles are driving towards each other or are arranged in such a way that a clear right-of-way is not possible. This can be the case, for example, if four vehicles approach an intersection from different directions where only right-of-way applies and arrive at the intersection at the same time.

[0051] According to one embodiment, in the event of a blockage, a control chart is created and / or agreed upon, which enables traffic to flow as smoothly as possible, in which vehicles without the possibility of participating in the process, in particular vehicles without vehicle-to-X communication technology, are given priority and / or in which, in particular in the event of a stalemate, priorities are assigned to vehicles based on one or more of the following parameters: driving speed, fixed set of rules, direction of travel, for example compass direction, counter reading of the respective right-of-way counter, navigation information, information about activated components such as a navigation system, information about activated indicators, information about automatic steering, information about yielding, destination, planned trajectory, special deployment rights or the presence of special priority features; or in which the coordination process is aborted in the event of a blockage.

[0052] A stalemate is defined in particular as a situation in which none of the vehicles has a priori right of way. Yielding is defined in particular as a situation in which a vehicle voluntarily relinquishes a potentially possible right of way, with this yielding being communicated preferentially to the other vehicles involved.

[0053] According to one embodiment, in the event of a blockage or stalemate, the method carries out a step of detecting whether yielding is appropriate, wherein, in the event of yielding, a message about the yielding is sent to other vehicles involved.

[0054] This can significantly reduce the complexity of the regulation, since a vehicle that gives way at least leads to a clear and immediately enactable traffic rule giving way.

[0055] According to one embodiment, when the coordination process is carried out, priorities are randomly assigned to the vehicles involved, with a vehicle with a higher priority having priority over vehicles with a lower priority.

[0056] In the absence of other indicators for priorities, this allows for a pragmatic, simple, and, on average, fair allocation of priorities to individual vehicles. Priorities and priorities should preferably correspond, which can mean, in particular, that the respective priorities or priorities, or traffic rules derived from them, lead to the lowest possible accident risk.

[0057] According to one embodiment, the method comprises a step of terminating the voting process if a termination criterion is met during the voting process.

[0058] This allows a response to a particularly difficult situation, for example, avoiding an excessively lengthy and potentially inconclusive coordination process. In particular, it can prevent the coordination process from taking too long to ensure safe control of the traffic situation before the vehicles arrive at the critical point. If the coordination process is aborted, driving maneuvers can be aborted, a handover to the respective drivers can take place, or other suitable measures, particularly those aimed at avoiding a collision, can be taken.

[0059] According to one embodiment, the control card is sent via a radio connection, in particular in a vehicle-to-X message. In principle, confirmations can also be sent or transmitted via a radio connection, in particular in a vehicle-to-X message.

[0060] This enables, in particular, a direct exchange of control cards or confirmations between the vehicles involved without the need for a mobile network.

[0061] According to one embodiment, the method further comprises a step of transmitting information, in particular about control maps and / or traffic rules, to following or other road users, wherein this step of transmitting is continuously repeated or carried out in response to a past regulated situation.

[0062] This allows other road users, especially those following behind, to be informed of the regulated situation. This allows them, for example, to adopt the respective control map in similar situations.

[0063] According to one embodiment, it is provided that the control chart and / or the further control chart an intersection, a roundabout, a junction, in particular onto a motorway, a bottleneck, a stop and / or a road, in particular a road with overtaking facilities, is assigned.

[0064] At such points, situations that require regulation often arise, which can be advantageously regulated using the method according to the invention.

[0065] According to one embodiment, during the sending step, the control chart is sent to a central server as an external unit, preferably together with reliability information.

[0066] This allows a central server to be involved in traffic control. In particular, the central server can be informed about recognized traffic regulations, such as traffic signs. Communication with the central server can take place via a mobile phone connection, for example.

[0067] It should be understood that the invention also relates to a device for carrying out the method according to the invention. Such a device can, for example, be an electronic control device which has processor means and memory means, wherein program code is stored in the memory means, upon execution of which the method according to the invention is carried out. Such a control device can, for example, also be integrated into another device, for example into a control device for automated driving or for driver assistance systems. The invention further relates to a non-volatile computer-readable storage medium which contains program code, upon execution of which by a processor a method according to the invention is carried out. It should be understood that, in principle, all described embodiments and variants of the method according to the invention can be used.

[0068] Furthermore, the invention relates to a system comprising a number of vehicles, wherein each vehicle is configured to carry out a method according to the invention, and wherein the vehicles are configured to communicate with each other, in particular to carry out the method according to the invention and in particular using vehicle-to-X communication. With regard to the method according to the invention, all described embodiments and variants can be used.

[0069] Further features and advantages of the invention will become apparent to those skilled in the art from the exemplary embodiments described below with reference to the accompanying drawings, in which: Fig. 1 : A situation to be regulated at an intersection, Fig. 2 : A situation on a road that needs to be regulated.

[0070] Fig. 1 shows an intersection 10 at which a first road 12 and a second road 14 intersect at right angles. A first vehicle 20 is traveling on the first road 12 toward the intersection 10. A second vehicle 22 is approaching the intersection on the other side of the intersection 10, also traveling toward the intersection 10. A third vehicle 24 is traveling perpendicularly on the second road 14 and is also approaching the intersection 10. Vehicles 20, 22, and 24 are each shown only schematically. Arrows indicate the directions of travel.

[0071] In the situation which Fig. 1 As shown, an uncontrolled onward journey of all vehicles 20, 22, 24 would lead to a collision. For this reason, there are right-of-way rules which determine the priority of vehicles 20, 22, 24. In the present case, these are indicated by traffic signs, with the first vehicle 20 and the second vehicle 22 each having a sign in front of them indicating give way, whereas the third vehicle 24 has a give way sign in front of it. This rule basically means that the first vehicle 20 and the second vehicle 22 must first wait until the third vehicle 24 has passed. The first vehicle 20 and the second vehicle 22 can then drive on immediately, since their respective routes do not cross.

[0072] In this case, it is assumed that the first vehicle 20 is the first to recognize the traffic situation to be regulated, as it determines via satellite navigation and an electronic road map that it is approaching an intersection and, furthermore, via a camera, detects that other vehicles are also approaching the intersection. Using the camera, the first vehicle 20 also detects the "Give Way" traffic sign, from which the first vehicle 20 deduces that it does not have the right of way.

[0073] From this, the first vehicle then derives a control map corresponding to intersection 10. The traffic rule "Give Way" is entered in the control map for the first vehicle 20. Since in such a case, due to the lack of indications of a turning right-of-way rule, the opposite direction of travel is also subject to the same traffic regulations, the traffic rule "Give Way" is also entered for the second vehicle. It is also known that at such intersections, cross traffic has the right of way if a specific vehicle must yield the right of way. Therefore, the traffic rule "Give Way" is entered for the third vehicle 24 and also for the opposite direction.

[0074] The generated control map, which contains the aforementioned traffic rules in a specific, generally known format, is then transmitted by the first vehicle 20 via vehicle-to-X communication means and received by the other vehicles 22, 24. These vehicles, likewise using their respective cameras, create their own control maps in the same manner as described above. These self-generated control maps are compared with the control map received from the first vehicle 20. If the control maps match, the respective vehicles 22, 24 send a confirmation to the first vehicle 20 that the control maps match and thus all vehicles 20, 22, 24 can safely pass through the intersection 10 using identical control maps. The traffic rules contained in the shared control map are displayed to the respective drivers of the vehicles 20, 22, 24 for their attention.

[0075] If the control cards for one of the other vehicles 22, 24 do not match, for example, because one of the vehicles 20, 22, 24 has not correctly identified a traffic sign due to snow cover, a reconciliation process is triggered. A corresponding embodiment is described below with reference to Fig. 1 described.

[0076] According to one embodiment, vehicles 20, 22, and 24 perform a cooperative coordination process. The control charts are exchanged among each other in several iterative steps and evaluated by each of the vehicles 20, 22, and 24. In particular, information relating to the reliability of the respective camera used to create the control chart is evaluated. Furthermore, it is noted that the more vehicles have independently determined a traffic rule, the more reliable it is.

[0077] If vehicles 20, 22, and 24 arrive at a common control map within a predefined maximum number of iteration steps, this control map is distributed among the vehicles and observed. This also allows safe passage through intersection 10, with the traffic rules contained in the common control map being displayed to the respective drivers. If vehicles 20, 22, and 24 do not arrive at a common control map within a predefined maximum number of iteration steps, the coordination process is aborted. In this case, the respective drivers of vehicles 20, 22, and 24 are given a signal prompting them to assess the traffic situation themselves.

[0078] Fig. 2shows a single-lane road 16 with vehicles traveling in both directions. These vehicles are a first vehicle 20 following a second vehicle 22, and an oncoming third vehicle 24. The second vehicle 22 is a slow-moving truck. Therefore, the first vehicle 20 has a reason to overtake the second vehicle 22.

[0079] As a commercial vehicle, the second vehicle 22 is equipped with better sensors, in particular a better camera, than the other vehicles 20, 24. Furthermore, it has a better field of view of the road 16 than the following first vehicle 20. Therefore, the second vehicle 22 sends information to the first vehicle 20 indicating that it can assist in performing an overtaking maneuver.

[0080] If the driver of the first vehicle 20 wishes to overtake, they press a button on the first vehicle 20. The overtaking intention is then sent in a message to the second vehicle 22. The second vehicle 22 then uses its camera to record the surroundings in front of it and detects the oncoming third vehicle 24, which is clearly preventing the first vehicle 20 from overtaking. The second vehicle 22 then creates a control map containing a temporary overtaking ban for road 16. The second vehicle 22 sends this control map to the first vehicle 20, which receives this control map and, based on the temporary overtaking ban, determines that overtaking is currently not possible. This is displayed to the driver of the first vehicle 20, prompting them to refrain from the planned overtaking maneuver.A collision with the third vehicle 24 is effectively avoided in this way.

[0081] It should be understood that the exemplary embodiments shown here are merely schematic. For the sake of simplicity, reference symbols have been omitted from the claims below. It is assumed that the designations of the claims can be readily assigned to the exemplary embodiments.

[0082] In general, it should be noted that vehicle-to-X communication is understood to mean, in particular, direct communication between vehicles and / or between vehicles and infrastructure facilities. For example, it can therefore be vehicle-to-vehicle communication or vehicle-to-infrastructure communication. If reference is made in this application to communication between vehicles, this can generally take place, for example, within the framework of vehicle-to-vehicle communication, which typically takes place without mediation by a mobile network or a similar external infrastructure and which must therefore be distinguished from other solutions that are based on a mobile network, for example. For example, vehicle-to-X communication can take place using the IEEE 802.11p or IEEE 1609.4 standards. Vehicle-to-X communication can also be referred to as C2X communication.The sub-areas can be referred to as C2C (Car-to-Car) or C2I (Car-to-Infrastructure).

[0083] It should also be noted that, for example, implementations of the method in at least one of its variants are also possible in which only one vehicle records the traffic regulations, creates a control chart from them, and then sends them to other vehicles for immediate compliance. These vehicles then receive the control chart and use it without further verification. Preferably, they can confirm receipt and / or compliance. It is also possible for all participating vehicles to receive their respective control charts from a central server.

[0084] It should be understood that a method according to the invention can also be carried out, for example, by vehicles or with the involvement of vehicles that do not have environmental sensors such as cameras, radar, or lidar. For example, such vehicles may approach an intersection or other location requiring control, which other vehicles that have environmental sensors are also approaching. Although vehicles without environmental sensors typically cannot generate a control chart, they can still participate in a coordination process or coordination step and contribute to arriving at a jointly accepted and / or used control chart.

[0085] It should be noted that a method according to the invention can, in principle, be used for all types of vehicles. In particular, it can be used for freely steerable or even automated vehicles, such as passenger cars, trucks, buses, or emergency vehicles. However, it can also be used for rail vehicles, such as trams or regular trains. It can also be used for vehicles powered by human or animal muscle power or for special vehicles, such as forklifts, within a company's internal transport network.

Claims

1. Method for handling a rule chart, containing traffic rules, in a vehicle, comprising the following steps: - detecting a surroundings state by way of a number of surroundings sensors of the vehicle, characterized by - a control device of the vehicle deriving a number of traffic rules based on the surroundings state, - the control device of the vehicle generating the rule chart based at least on the traffic rules, and - sending the rule chart to an external unit by way of vehicle-to-X communication, - comparing the generated rule chart with a further rule chart, wherein the further rule chart is received directly from another vehicle or from a central server, and - triggering a voting process if the rule chart and the further rule chart do not match, wherein the voting process is carried out through the multiple direct exchange and comparison of rule charts and / or plausibility information between vehicles involved therein until all vehicles involved therein have an identical rule chart or until a predefined number of iterations is reached.

2. Method according to Claim 1, - wherein the method is carried out in response to the detection that an intersection or junction is being approached, - wherein the approach is preferably detected by way of surroundings sensors, in particular by way of a camera, by way of satellite navigation, by way of an electronic road map and / or by way of vehicle-to-X communication.

3. Method according to Claim 2, - wherein the derived traffic rules are assigned to the intersection or junction, in particular right of way and give way.

4. Method according to one of the preceding claims, - wherein the method is carried out in response to the detection of a situation that requires regulation, - specifically in particular a situation that precludes overtaking for following vehicles, or a situation such as cutting in or overtaking, - wherein the situation is preferably detected by way of surroundings sensors, in particular by way of a camera, or by way of vehicle-to-X communication.

5. Method according to one of the preceding claims, - wherein the method is carried out in response to a message received from another vehicle and containing a request to send a rule chart.

6. Method according to Claim 4 or 5, - wherein a temporary ban on overtaking is derived as a traffic rule following detection of a situation that precludes overtaking for following vehicles.

7. Method according to one of the preceding claims, - said method being carried out repeatedly, in particular periodically and repeatedly, for the purpose of continuous comparison.

8. Method according to one of the preceding claims, - wherein the rule chart is sent directly to at least one other vehicle as an external unit.

9. Method according to one of the preceding claims, - wherein one or more of the following elements are sent together with the rule chart: - a registration number of the vehicle, - an identification of the vehicle, - an intersection topology, - object properties, in particular the type, position and / or trajectory of the vehicle sending the rule chart, - information about the reliability of the rule chart and / or about the reliability of surroundings sensors, in particular of a camera, - information about vehicles that are not equipped with technology for participating in the vote on traffic rules, in particular that are not equipped with vehicle-to-X communication technology, and in particular including their registration numbers, - a reliability metric.

10. Method according to one of Claims 1 to 9, - wherein the voting process involves the vehicle and other vehicles approaching an intersection or junction or driving on the same road; and / or - wherein the voting process involves only vehicles for which an intersection of respective trajectories has been computed.

11. Method according to one of Claims 1 to 10, - where comparing rule charts and / or plausibility information includes a respective plausibility check, - wherein a plausibility check preferably comprises one or more of the following steps: - evaluating and / or weighting available information, in particular in relation to information from other vehicles, - recording the significance and / or reliability of information, - checking which other vehicles have identical information or have sent identical information, - adding information if said information is complementary.

12. Method according to one of Claims 1 to 11, - wherein one or more of the following steps are carried out iteratively when performing the voting process: - assessing the significance and / or confidence of information using threshold values or probabilities, for example hazardous situation or driving mode, such as self-driving or automatic driving, of a respective vehicle, - carrying out a plausibility check, for example on a technical or statistical basis, - collating information, in particular all available information, - fusing, in particular creating a new, for example extended, in particular spatially extended and / or more precise image, which is in particular consistent in terms of content.

13. Method according to one of Claims 1 to 12, - wherein the voting process gives rise to a rule chart that is sent to a number of other vehicles.

14. Method according to one of Claims 1 to 13, - said method furthermore comprising a step of detecting a blockage when performing the voting process.

15. Method according to one of Claims 1 to 14, - wherein priorities are allocated randomly to the vehicles involved when performing the voting process, - wherein a higher-priority vehicle has priority over lower-priority vehicles.

16. Method according to one of Claims 1 to 15, - said method, in the event that an abort criterion is met during the voting process, comprising a step of aborting the voting process.

17. Method according to one of the preceding claims, - wherein the rule chart is sent over a radio connection, in particular in a vehicle-to-X message.

18. Method according to one of the preceding claims, - said method furthermore comprising a step of sending information, in particular about rule charts and / or traffic rules, to following or other road users, - wherein this sending step is repeated continuously or carried out in response to a past regulated situation.

19. Method according to one of the preceding claims, - wherein the rule chart and / or the further rule chart is assigned to - an intersection, - a roundabout, - a junction, in particular on a motorway, - a bottleneck, - a stopping place and / or - a road, in particular a road on which overtaking is possible.

20. Method according to one of the preceding claims, - wherein, in the sending step, the rule chart is sent to a central server as an external unit, preferably together with reliability information.