Control center, vehicle, method, device and computer program for taking control of a vehicle to be controlled

Description

[0001] The present invention relates to a method, a computer program, a vehicle, a control center, and a device for coordinating a takeover of control over a vehicle to be controlled, in particular but not exclusively, to a concept for taking control of a vehicle by keeping the vehicle to be controlled in a dynamic location area relative to a leading or controlling vehicle.

[0002] It is foreseeable that there will be more and more autonomous vehicles on the road in the future. Autonomous vehicles can operate entirely without a driver, who could drive the vehicle out of certain areas on the instructions of the police, fire department, etc. Towing services are also not always available, and are complex and expensive. There are also situations in which certain areas must be cleared, e.g., during state visits, for events, etc. Even in extreme situations, such as the identification of criminals in an autonomous vehicle, the autonomous vehicle must be able to be guided by an (autonomous) police car to the nearest investigation station. Even if vehicles are to be pulled out of flowing traffic as part of official duties, options for doing so must be created.

[0003] The document DE 10 2015 225 729 A1 relates to a method for identifying an autonomous motor vehicle, in which a unit sends a request regarding the motor vehicle to a trust center, wherein the request includes an identification of the motor vehicle and an identification of the unit, and the unit receives a release request after verification of the identifications by the trust center.

[0004] The document DE 10 2018 110 570 A1 describes a method for the targeted transmission of an instruction from a specification instance to a target vehicle, wherein transmission is carried out by sending an electronic broadcast message by means of a transmitting unit of the specification instance and receiving the electronic broadcast message by means of receiving units of vehicles in the vicinity of the specification instance.

[0005] The publication DE 10 2019 101 790 A1 teaches a system and a method for forming a fleet and for positioning vehicles in the fleet.

[0006] The document DE 10 2016 002 127 A1 teaches a motor vehicle for inclusion in a vehicle convoy in which the relative lateral vehicle positions are adjustable, and a corresponding method.

[0007] WO 2020 / 014090 A1 teaches a method and a device for the automated tracking of a leading vehicle. The leading vehicle navigates a path from a starting point to a destination. The leading vehicle and the following vehicle are connected via V2V communication.

[0008] US 2013 / 030606 A1 teaches a method for autonomously accompanying vehicles traveling along a route, wherein a lead vehicle communicates with at least one follower vehicle. The at least one follower vehicle receives a message regarding a target offset position and route data.

[0009] DE 10 2018 114808 A1 teaches a method for automatically lateral guidance of a following vehicle in a vehicle platoon. The method includes determining and receiving multiple lane data.

[0010] What's striking about these concepts is that rigid specifications are made when taking control, e.g., a vehicle is given a fixed trajectory or a defined destination. However, this can be disadvantageous due to the dynamic nature of traffic, for example, if traffic density changes along the trajectory or unforeseeable events such as accidents occur.

[0011] There is therefore a need to create an improved concept for taking control of a vehicle to be controlled. The subject matter of the pending independent claims addresses this need.

[0012] Embodiments are based on the core idea that a vehicle to be controlled can be assigned a location relative to a leading vehicle in order to assume control. Within this location, the vehicle to be controlled can then move autonomously, i.e., perform braking and steering maneuvers and, in exceptional situations or emergencies, even leave the location. This has the advantage that no rigid specification regarding the further course of the journey needs to be made at the time of taking over control. For example, no rigid trajectory or target position needs to be communicated at the time of taking over control; this only becomes apparent during the course of the controlled journey.

[0013] Embodiments provide a method for a leading vehicle and for taking control of a vehicle to be controlled. The method comprises identifying the vehicle to be controlled and determining a dynamic location area for the vehicle to be controlled relative to the leading vehicle. The method further comprises sending a message about the dynamic location area to the vehicle to be controlled. The vehicle to be controlled can be controlled accordingly via the dynamic location area.

[0014] The dynamic waiting area comprises a corridor behind the leading vehicle for the vehicle being checked. This corridor can be used to define a certain amount of space for the checked vehicle, within which it can adapt to the current traffic situation.

[0015] In further embodiments, the method may further include sending information about the takeover of control to a control center and receiving confirmation of the takeover of control from the control center. Communication via a control center and confirmation by the control center can contribute to a more secure takeover of control. Unauthorized takeovers of control can be prevented.

[0016] The dynamic waiting area depends on the speed of the leading vehicle and the traffic situation. In some exemplary embodiments, this can ensure traffic safety and a safe flow of traffic.

[0017] Furthermore, the takeover of control is documented in the leading vehicle. Examples of implementations can thus enable the tracking and verifiability of takeovers of control.

[0018] Embodiments further provide a method for a vehicle to be controlled and for taking over control from a leading vehicle. The method comprises receiving a message about a dynamic location zone from the leading vehicle and controlling the vehicle to be controlled to remain within the dynamic location zone relative to the leading vehicle. Embodiments can thus enable a traffic-appropriate takeover of control.

[0019] In some embodiments, the method may further include obtaining authorization from a control center to assume control before driving the vehicle to be controlled. Unauthorized takeovers of control can thus be reduced or avoided.

[0020] Steering the controlled vehicle to remain within the dynamic presence zone relative to the leading vehicle can also be based on received traffic information. A special traffic situation, such as an accident or a risky maneuver by another road user, may require steering out of the presence zone. This allows traffic flow safety to be maintained despite the assumption of control.

[0021] The method may also include taking control of a vehicle following the vehicle to be controlled. This allows, at least in some embodiments, convoys or chains of vehicles to be formed.

[0022] Furthermore, the takeover of control in the vehicle being inspected is documented. Examples of implementations can thus enable the tracking and verifiability of takeovers of control.

[0023] Not claimed and merely for a better understanding of the application, a method for a control center to monitor the takeover of control of a vehicle to be checked by a leading vehicle is also described. The method comprises receiving a message about a dynamic location area from the leading vehicle and verifying an authorization of the leading vehicle. The method further comprises sending an authorization for the takeover of control to the vehicle to be checked. Unauthorized takeovers of control of vehicles can thus be reduced or avoided. This allows traffic flow safety to be maintained despite the takeover of control.

[0024] The method may also include taking control of a vehicle following the vehicle to be controlled. This allows, at least in some embodiments, convoys or chains of vehicles to be formed.

[0025] In some embodiments, the takeover of control can also be documented in the vehicle being inspected. Embodiments can thus enable the tracking and verifiability of takeovers of control.

[0026] Embodiments further provide a method for a control center to monitor a takeover of control of a vehicle to be controlled by a leading vehicle. The method comprises receiving a message about a dynamic location area from the leading vehicle and verifying an authorization of the leading vehicle. The method further comprises sending an authorization for the takeover of control to the vehicle to be controlled. Unauthorized takeovers of control of vehicles can thus be reduced or avoided.

[0027] Furthermore, the control center will document the takeover of control.

[0028] Examples of implementation can thus enable the tracking and verifiability of control transfers.

[0029] A further embodiment is a computer program for carrying out a method described herein when the computer program runs on a computer, a processor, a control module or a programmable hardware component.

[0030] A device for taking over, monitoring, or coordinating the takeover of control of a vehicle to be controlled by a leading vehicle is another embodiment. The device comprises at least one communication interface and a control module for carrying out one of the methods described herein. A vehicle or a control center with such a device are further embodiments.

[0031] Further advantageous embodiments are described in more detail below with reference to the embodiments shown in the drawings, to which embodiments, however, are generally not limited. They show: Fig. 1 a block diagram of a flowchart of an embodiment of a method for a leading vehicle and for taking control of a vehicle to be controlled; Fig. 2 a block diagram of a flow chart of an embodiment of a method for a vehicle to be controlled and for taking over control by a leading vehicle; Fig. 3 a block diagram of a flowchart of an embodiment of a method for a control center for monitoring a takeover of control of a vehicle to be controlled by a leading vehicle; Fig. 4 a block diagram of an embodiment of a leading vehicle, an embodiment of a vehicle to be controlled, an embodiment of a control center, and an embodiment of a device for coordinating a takeover of control of a vehicle to be controlled by a leading vehicle; and Fig. 5 a scenario of a takeover of control in an embodiment.

[0032] Various embodiments will now be described in more detail with reference to the accompanying drawings, in which some embodiments are illustrated. Optional features or components are shown in dashed lines.

[0033] Although embodiments are susceptible to various modifications and variations, embodiments are illustrated in the figures as examples and will be described in detail herein. It should be understood, however, that embodiments are not intended to limit embodiments to the specific forms disclosed, but rather, embodiments are intended to cover all functional and / or structural modifications, equivalents, and alternatives within the scope of the invention.

[0034] Note that an element described as "connected" or "coupled" to another element may be directly connected or coupled to the other element, or there may be intervening elements. Conversely, when an element is described as "directly connected" or "directly coupled" to another element, no intervening elements are present. Other terms used to describe the relationship between elements should be interpreted similarly (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.).

[0035] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments. As used herein, the singular forms "a," "an," "another," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, it is to be understood that terms such as "includes," "including," "has," "comprises," "comprising," and / or "having," as used herein, indicate the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more features, integers, steps, operations, elements, components, and / or groups thereof.

[0036] Fig. 1shows a block diagram of a flowchart of an embodiment of a method 10 for a leading vehicle and for taking control of a vehicle to be controlled. The method 10 includes identifying 12 the vehicle to be controlled and determining 14 a dynamic location area relative to the leading vehicle for the vehicle to be controlled. The method 10 further includes sending 16 a message about the dynamic location area to the vehicle to be controlled.

[0037] The vehicles can be any kind of vehicle, for example passenger cars, trucks, transport vehicles, etc. The lead vehicle can be an authority vehicle such as a police car, but it is also conceivable that it is part of a convoy, a group, a chain of vehicles or a platoon with other vehicles. The vehicle to be monitored can be any other road user, for example controlled by a human driver (directly or via teleoperation) or even driving autonomously, for example without a driver at all. The vehicle to be monitored is designed to receive the message, i.e. it has the appropriate components for receiving the message. The dynamic location zone is an area that is defined relative to the lead vehicle, for example an area behind the vehicle. This area can therefore move dynamically with the lead vehicle.In addition, this area can also change its size and shape, e.g., to allow the inspected vehicle to maintain an appropriate safety distance or use a different lane. The dynamic location area therefore allows the inspected vehicle a certain degree of freedom, but still keeps it under the control of the leading vehicle. For example, the dynamic location area forms a corridor behind the leading vehicle for the vehicle to be inspected. The dynamic location area can depend on the speed of the leading vehicle and the traffic situation. Identifying 12 the vehicle to be inspected can include determining an identifier, e.g., based on a license plate number or a radio identifier, of the vehicle to be inspected.

[0038] Fig. 2illustrates a block diagram of a flowchart of an embodiment of a method 20 for a vehicle to be controlled and for assuming control by a leading vehicle. The method 20 comprises receiving 22 a message about a dynamic location area from the leading vehicle and controlling 24 the vehicle to be controlled to remain in the dynamic location area relative to the leading vehicle. The controlling 24 can be carried out by various possible instances. For example, a driver of the vehicle to be controlled receives the message and information about the location area. From then on, the driver controls the vehicle such that it remains in the location area. The driver can actually be in the vehicle or in a teleoperation center for remote control of the vehicle.Other variants include autonomous or semi-autonomous control of the controlled vehicle so that it remains in the area.

[0039] To prevent misuse and ensure an authorized process, a control center may be involved, at least in some embodiments. The control center then forms a type of monitoring center, to which the leading vehicle authorizes itself before taking over control. The method 10 for the leading vehicle may then comprise sending information about the takeover of control to a control center and receiving confirmation of the takeover of control from the control center. The method 20 for the vehicle to be controlled may correspondingly comprise obtaining authorization from a control center about the takeover of control before driving 24 the vehicle to be controlled.

[0040] Fig. 3shows a block diagram of a flowchart of an embodiment of a method 30 for a control center for monitoring a takeover of control of a vehicle to be controlled by a leading vehicle. The method 30 comprises receiving 32 a message about a dynamic location area from the leading vehicle and verifying 34 an authorization of the leading vehicle. The method 30 further comprises sending 36 an authorization of the takeover of control to the vehicle to be controlled. Verifying 34 the authorization can be carried out using common methods using appropriate signatures, certificates, or key pairs, thus ensuring that the leading and controlled vehicles are authorized and identified.

[0041] In some further embodiments, the takeover of control can also be documented. The method 10 then comprises documenting the takeover of control in the leading vehicle. The method 20 can comprise documenting the takeover of control in the vehicle to be controlled. Finally, the method 30 can comprise documenting the takeover of control by the control center. In this case, traceability of the takeover of control can be ensured. For example, a DLT (Distributed Ledger Technology), such as a blockchain, can be used for this purpose. All parties involved (leading vehicle, controlled vehicle and / or control center) can digitally verify and confirm the process, thus also ruling out subsequent manipulation.

[0042] In exemplary embodiments, the control 24 of the vehicle to be controlled to remain in the dynamic location zone relative to the leading vehicle can also be based on received traffic information. A particular traffic situation can necessitate control out of the location zone. In some exemplary embodiments, the controlled vehicle is therefore only forced into the predetermined location zone within a certain framework, whereby the framework allows for exceptions. Such an exception can be, for example, a suddenly occurring traffic event, such as an accident or a vehicle cutting in. Such information can be transmitted in the form of messages, detected by sensors, or perceived by a driver of the controlled vehicle.

[0043] In further embodiments, method 20 may further comprise taking control of a vehicle following the vehicle to be controlled. In some embodiments, vehicle chains (platoons or convoys) may be formed, with each following vehicle being located within a dynamic location range of a preceding vehicle. Control may be taken over centrally by a vehicle leading the vehicle chain or organized in a distributed manner, for example, such that each preceding vehicle controls its successor.

[0044] Fig. 4shows a block diagram of an embodiment of a vehicle 100 and an embodiment of a device 40 for coordinating the assumption of control of a vehicle 200 to be controlled by a leading vehicle 100. The device 40 for coordinating the assumption of control of the vehicle 200 to be controlled by the leading vehicle 100 comprises at least one interface 42 for communication, e.g. with the vehicle 200 to be controlled or with a control center 300. The device 40 further comprises a control module 44, which is coupled to the at least one interface 42 and is designed to control it. The control module 44 is further designed to carry out one of the methods 10, 20, and / or 30. In the Fig. 4The device 40 is integrated into the leading vehicle 100 for carrying out the method 10, which is shown in dashed lines because it is optional from the perspective of the device 40. The vehicle 100 therefore forms a further exemplary embodiment. Further exemplary embodiments are a vehicle 200 to be controlled with a device 40 for carrying out the method 20 and a control center 300 with a device 40 for carrying out the method 30.

[0045] The leading vehicle 100 and the vehicle to be controlled 200 as well as optionally the control center can be part of a communication system 400 in which communication takes place via the respective interfaces 42.

[0046] The at least one interface 42 of the device 40 can, in exemplary embodiments, be embodied as contacts of the control module 44. In exemplary embodiments, it can also be implemented as separate hardware. It can comprise memories that at least temporarily store the signals to be transmitted or the signals received. The at least one interface 42 can be designed to receive electrical signals, for example, as a bus interface or as an optical interface. In exemplary embodiments, it can also be designed for radio transmission and comprise a radio front end and associated antennas. Furthermore, the at least one interface 42 can comprise synchronization mechanisms for synchronizing with the respective transmission medium, for example for the CAN bus (CAN = Controller Area Network).In embodiments, the at least one interface 42 may be configured to communicate in the vehicle and / or other vehicles or instances, for example via a network 400.

[0047] In exemplary embodiments, the control module 44 can be hardware configured to carry out one of the methods described herein. These can be any processor cores, such as digital signal processor cores (DSPs) or other processors. Exemplary embodiments are not limited to a specific type of processor core. Any processor cores or even multiple processor cores or microcontrollers are conceivable for implementing the control module 44. Implementations in integrated form with other devices are also conceivable, for example, in a control unit for a vehicle that additionally includes one or more other functions.In embodiments, the control module can be implemented by a processor core, a computer processor core (CPU = Central Processing Unit), a graphics processor core (GPU = Graphics Processing Unit), an application-specific integrated circuit core (ASIC = Application-Specific Integrated Circuit), an integrated circuit (IC = Integrated Circuit), a single-chip system core (SOC = System on Chip), a programmable logic element, or a field-programmable gate array with a microprocessor (FPGA = Field Programmable Gate Array) as the core of the aforementioned component or components. The control module can therefore correspond to any component that can calculate or determine a traffic density from the movement profile.

[0048] Data / information communicated between vehicles 100, 200, or between vehicles and transmitters installed at infrastructure objects 300, can be communicated via radio, for example. Such information can be referred to as vehicle-to-vehicle (V2V) data, vehicle-to-infrastructure (V2I) data, or generally as vehicle-to-everything (V2X) data.

[0049] The devices 40, the control center 300 and the vehicles 100, 200 can communicate via a mobile communication system 400. The mobile communication system 400, as shown in Fig. 4As shown, it can be assigned, for example, to a mobile communication system that is or has been standardized by 3GPP (3rd Generation Partnership Project), where the term mobile communication system is used synonymously with mobile communication network. The messages (requests, approvals, control information, location information) can therefore be transmitted via multiple network nodes (e.g., Internet, routers, switches, etc.) and the mobile communication system 400.

[0050] The mobile or wireless communication system 400 may correspond to a 5th generation (5G or New Radio) mobile communication system and may use mmWave technology. The mobile communication system may, for example, correspond to or include an LTE (Long Term Evolution) system, an LTE-Advanced (LTE-A) system, a high-speed packet access (HSPA), a Universal Mobile Telecommunication System (UMTS), a UMTS Terrestrial Radio Access Network (UTRAN), an evolved UTRAN (e-UTRAN), a Global System for Mobile Communications (GSM) or enhanced data rates for GSM Evolution (EDGE), a GSM / EDGE Radio Access Network (GERAN), or mobile communication networks with different standards, e.g., a WIMAX network (Worldwide Interoperability for Microwave Access) IEEE 802.16 or WLAN 802.11 (Wireless Local Area Network), generally an OFDMA (Orthogonal Frequency Division Multiple Access) network, a TDMA (Time Division Multiple Access) network, a CDMA (Code Division Multiple Access) network, a WCDMA (Wideband CDMA) network, a FDMA (Frequency Division Multiple Access) network, a SDMA (Spatial Division Multiple Access) network, etc.

[0051] In exemplary embodiments, for example, a control and command center belonging to the vehicle can be used to execute control according to instructions from the police or similar authorities, e.g., to stop at the next parking lot, to stop on the hard shoulder, to take the next exit, to "follow," etc. This may require that both the police vehicle 100 and the autonomous vehicle 200 have a connection to a backend, for example, via a cellular connection 400.

[0052] If this is not available, alternative methods can be used to maneuver the vehicle out of or into a specific area, for example, through direct communication. Even if the connection to the backend is established, an emergency vehicle (e.g., police) can inform the backend that the emergency vehicle is taking direct control of the vehicle to be controlled. One possibility is through direct communication. Various technologies are available for this, such as ITS-G5 (Intelligent Transport System), C-V2X (Cellular V2X), 5G NR-V2X (5th Generation, New Radio), IEEE 802.11bd (Institute of Electrical and Electronics Engineers), and others.

[0053] Before a command (control transfer) can be issued, at least in some implementations, secure direct addressability must be ensured through authentication and authorization. Various methods are known for this, too: certificates, key procedures, etc.

[0054] Target positions, maximum speeds, and information about the dynamic location zone can then be transmitted, and the vehicle automatically moves to this position or location zone using its own sensors. If this requires crossing unauthorized areas, this can lead to a dilemma. Therefore, the trajectory is specified by the leading emergency vehicle 100 to the remote vehicles 200 across the location zone, allowing them to follow the same path with certain degrees of freedom. The guided vehicles 200 can then also be brought to a stop by specifying the location zone relative to the leading vehicle, for example, if the latter also stops.

[0055] A government vehicle with direct communication can provide an electronic tow hook and can assume the role of a scout vehicle, driving ahead and thus defining (and possibly clearing, forming a lane). Depending on the situation, a vehicle or an entire line of vehicles (platoon formation with multiple electronic tow bars) can be removed from areas, thus resolving traffic jams, for example. One advantage here can be that direct communication works everywhere. A standardized communication procedure on standardized frequencies may be required.

[0056] Fig. 5shows a scenario of a control takeover in one exemplary embodiment. In this scenario, a leading vehicle 100 takes control of a vehicle 200 to be controlled. For this purpose, a control center 300 communicates with the vehicle 100 and authorizes it to take control. This is communicated by the leading vehicle 100 via V2V to the vehicle 200. In exemplary embodiments, this can also be communicated directly by the control center 300 to the vehicle 200. In the exemplary embodiment shown, the vehicle 100 now sends a message with information about the dynamic location zone to the vehicle 200. The location zone is defined such that the vehicle 200 remains behind the vehicle 100 but can use a different lane. Fig. 5shows an overtaking maneuver in which vehicle 100 has changed back to the right lane after overtaking vehicle 500 and the controlled vehicle 200 follows it, but is initially still in the left lane.

[0057] Embodiments may further be or relate to a computer program having program code for performing one or more of the above methods when the computer program is executed on a computer or processor. Steps, operations, or processes of various methods described above may be performed by programmed computers or processors. Examples may also cover program storage devices, e.g., digital data storage media, that are machine-, processor-, or computer-readable and encode machine-executable, processor-executable, or computer-executable programs of instructions. The instructions perform or cause some or all of the steps of the above-described methods to be performed. The program storage devices may, for example,Digital storage devices may include or be magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media. Further examples may also include computers, processors, or control units programmed to perform the steps of the methods described above, or (field) programmable logic arrays ((F)PLAs) or (field) programmable gate arrays ((F)PGAs) programmed to perform the steps of the methods described above.

[0058] Functions of various elements shown in the figures, as well as the designated functional blocks, may be implemented in the form of dedicated hardware, e.g., "a signal provider," "a signal processing unit," "a processor," "a controller," etc., as well as hardware capable of executing software in conjunction with associated software. When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some or all of which may be shared.However, the term "processor" or "controller" is by no means limited to hardware capable of executing software only, but can include digital signal processor (DSP) hardware, network processor, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage devices. Other hardware, conventional and / or custom, may also be included.

[0059] For example, a block diagram may represent a high-level circuit diagram implementing the principles of the disclosure. Similarly, a flowchart, a sequence diagram, a state transition diagram, pseudocode, and the like may represent various processes, operations, or steps, for example, substantially embodied in computer-readable medium and thus performed by a computer or processor, regardless of whether such a computer or processor is explicitly shown. Methods disclosed in the specification or claims may be implemented by a device having a means for performing each of the respective steps of these methods.

[0060] It should be understood that the disclosure of multiple steps, processes, operations, or functions disclosed in the description or claims should not be construed as being in that particular order unless explicitly or implicitly stated otherwise, e.g., for technical reasons. Therefore, the disclosure of multiple steps or functions does not limit them to a particular order unless those steps or functions are not interchangeable for technical reasons. Furthermore, in some examples, a single step, function, process, or operation may include and / or be broken down into multiple sub-steps, functions, processes, or operations. Such sub-steps may be included and be part of the disclosure of that single step unless explicitly excluded. List of reference symbols

[0061] 10Procedure for a leading vehicle and for taking control of a vehicle to be controlled 12Identifying the vehicle to be controlled 14Determining a dynamic location area relative to the leading vehicle for the vehicle to be controlled 16Sending a message about the dynamic location area to the vehicle to be controlled 20Procedure for a vehicle to be controlled and for taking control by a leading vehicle 22Receiving a message about a dynamic location area from the leading vehicle 24Controlling the vehicle to be controlled to remain in the dynamic location area relative to the leading vehicle.30Method for a control center for monitoring a takeover of control of a vehicle to be controlled by a leading vehicle 32Receiving a message about a dynamic location area from the leading vehicle 34Verifying an authorization of the leading vehicle 36Sending an authorization of the takeover of control to the vehicle to be controlled 40Device for coordinating a takeover of control of a vehicle to be controlled by a leading vehicle 42At least one interface 44Control module 100Vehicle 200Vehicle 300Vehicle 400Communication system 500Vehicle.

Claims

1. Method (20) for a vehicle (200) to be controlled and for assuming control by a leading vehicle (100), comprising receiving (22) a message about a dynamic holding region from the leading vehicle (100), the dynamic holding region being defined such that the vehicle (200) to be controlled remains behind the leading vehicle (100) and can use a different lane; and steering (24) the vehicle (200) to be controlled to remain in the dynamic holding region relative to the leading vehicle (100); the dynamic holding region depending on the speed of the leading vehicle (100) and a traffic situation, steering the vehicle (200) to be controlled to remain in the dynamic holding region relative to the leading vehicle (100) further being based on obtained traffic information, a particular traffic situation requiring steering out of the holding region, the particular traffic situation comprising a sudden traffic event which comprises an accident or a vehicle cutting in, characterized in that the method further comprises documenting, in the leading vehicle (100) and by a control center, the assumption of control in the vehicle (200) to be controlled, a DLT, Distributed Ledger Technology, system being used to trace the assumption of control, the leading vehicle, the controlled vehicle and the control center digitally verifying and confirming the assumption of control, the leading vehicle (100) being an emergency vehicle, and the control center being notified that the emergency vehicle assumes direct control of the vehicle (200) to be controlled.

2. Method (20) according to claim 1, further comprising assuming control of a vehicle following the vehicle (200) to be controlled.

3. Method (10) according to either claim 1 or 2, wherein the dynamic holding region comprises a corridor behind the leading vehicle (100) for the vehicle (200) to be controlled.

4. Computer program comprising a program code for carrying out one of the methods (10; 20; 30) according to any of claims 1 to 3 when the program code is executed on a computer, a processor, a control module, or a programmable hardware component.

5. Device (40) for coordinating assumption of control of a vehicle (200) to be controlled by a leading vehicle (100), said device comprising at least one interface (42) for communication; and a control module (44) for carrying out one of the methods (10; 20; 30) according to any of claims 1 to 3.

6. Vehicle (100; 200; 300) comprising a device (40) according to claim 5.