Method for adjusting a driving route and / or speed of a motor vehicle, method for a special response vehicle and a control device

Abstract

The invention relates to a method for adjusting a driving route (A) and / or speed of a motor vehicle (10), a method for a special response vehicle (30) and a control device (20) for a motor vehicle (10), which is designed to carry out one or both of the methods. According to the invention, by means of Car2X communication, a driving route (B) of a special response vehicle (30) is sent from same and received by a motor vehicle (10) in the surroundings. The driving routes (A, B) of the motor vehicle (10) and the special response vehicle (30) are checked for crossing points (X) in order to determine an alternative driving route (C) and / or speed for the motor vehicle (10) to prevent a meeting of the motor vehicle (10) and the special response vehicle (30) at a determined crossing point (X).

Description

[0001] Description

[0002] Method for adapting a driving route and / or speed of a motor vehicle, method for a special operations vehicle and control device

[0003] The invention relates to a method for adapting a driving route and / or speed of a motor vehicle, a method for a special-purpose vehicle, and a control unit for a motor vehicle configured to perform one or both of the methods. The motor vehicle is preferably a self-steering motor vehicle.

[0004] Special emergency vehicles (SEVs) on duty, such as fire service vehicles, ambulances, police, or civil protection vehicles, enjoy special right-of-way in many countries. This means that SEVs have priority over normal road users and must be allowed to pass. A SEV typically indicates that it is on an (emergency) call by flashing its blue lights and siren. However, situations frequently arise in road traffic in which a road user does not or cannot perceive the blue lights or the siren. These situations are very critical and pose a significant accident risk.

[0005] To increase road user awareness of special operations vehicles (SEVs) in traffic and reduce the risk of accidents, solutions are known in which road users exchange GPS location data with the SEV via radio communication, and use the GPS location data to display the current location of the SEV on a map. The display of the SEV on the map allows the driver to orient themselves, allowing them to quickly determine the direction from which the special operations vehicle is or will be coming.

[0006] For example, document US 2004 / 0143390 A1 describes an emergency vehicle warning system for a motor vehicle for providing information about the location of an emergency vehicle. The emergency vehicle includes a radio wave transmitter unit that transmits GPS location information of the emergency vehicle in the form of an emergency vehicle location signal. The motor vehicle includes a radio wave receiver unit that receives the emergency vehicle location signal emitted by the radio wave transmitter unit of the emergency vehicle. A map display of the motor vehicle displays a plurality of street locations, a current location of the motor vehicle, and a current location of the emergency vehicle to the driver of the motor vehicle.The current location display allows the driver of the vehicle to select the best roads to avoid the emergency vehicle and to avoid the traffic jams that typically occur on the roads on which the emergency vehicle is traveling.

[0007] However, it has become apparent that the current state-of-the-art solutions do not yet sufficiently improve driver safety on the road. Sometimes, a driver has to look at the displayed map for a very long time to determine the position and direction of movement of a SEF or to locate an alternative route on the map. If the driver's gaze deviates from the road for too long, this distraction can cause accidents.

[0008] The invention is based on the object of providing simple methods for a motor vehicle and a special emergency vehicle which further improve the safety of the driver of the motor vehicle and other road users.

[0009] The object of the invention is achieved by a method for adapting a driving route and / or speed of a motor vehicle, a method for a special operations vehicle, and a control unit according to the independent patent claims. Preferred developments are the subject of the respective dependent claims.

[0010] A first aspect relates to a method for adapting a driving route and / or speed of a motor vehicle. The motor vehicle comprises a navigation system for calculating driving routes with start and destination points, and a radio system with a transceiver and an antenna configured to transmit and receive Car2X communication signals. The navigation system is a well-known navigation system configured to determine a position, for example, using satellite-based communication, in particular GPS (Global Positioning System), and to calculate a route to a desired location using geoinformation and preferably also to display it on a display. Car2X communication is generally possible using WLAN and / or mobile radio transmission methods. The WLAN standard for motor vehicles according to the IEEE 802 standard is preferred.11p in a frequency band from 5.85 GHz to 5.925 GHz is used for Car2X communication. Other communication standards such as Cellular V2X (C-V2X) or 5G (fifth generation of mobile communications) can also be used preferentially, as they enable vehicle-to-vehicle (V2V) communication, i.e., direct communication, in addition to cellular communication. The ranges of Wi-Fi communication can extend up to one kilometer.

[0011] Compared to mobile communications, WLAN radio technology has the advantage that no additional infrastructure is required.

[0012] In one step of the method, route information is received from a special operations vehicle using the radio system. The route information comprises a travel route of the special operations vehicle. The travel route is preferably the route output from a navigation system of the special operations vehicle for reaching the scene of the incident, i.e., a planned or predictive route. Furthermore, a travel route of the motor vehicle is received from the navigation system of the motor vehicle. The travel route of the motor vehicle comprises a route that leads the motor vehicle to a predetermined destination, i.e., a planned or predictive route. According to the invention, the travel routes of the motor vehicle and the special operations vehicle are checked for intersection points, and an alternative travel route and / or speed for the motor vehicle is determined to avoid a collision between the motor vehicle and the special operations vehicle at a determined intersection point.An intersection point is a point or location where paths, roads, and the like intersect. A collision between a motor vehicle and a special operations vehicle at a determined intersection point corresponds to the motor vehicle and the special operations vehicle being within an area with a combined radius of at least 50 meters. In other words, the motor vehicle should be at least 100 meters away from the intersection point when the special operations vehicle is at the intersection point. Accordingly, the special operations vehicle should already have passed the intersection point when the motor vehicle reaches the intersection point. Consequently, by determining an alternative route and / or speed for the motor vehicle, the risk of an accident posed by a collision between the motor vehicle and the special operations vehicle can be prevented.Furthermore, this counteracts the formation of clusters of vehicles at intersections, which typically occur when the SEF reaches and passes an intersection.

[0013] To determine the alternative route and / or speed for the vehicle, coordinate-dependent average speeds are preferably used, which are stored, for example, in a navigation system memory. The coordinate-dependent average speeds are preferably historical averages that can be assigned to individual road sections, preferably taking into account the time of day and traffic conditions.

[0014] For the purposes of the present invention, special operations vehicles (SEVs) are understood to mean, but are not limited to, government vehicles and organizational vehicles with security duties, such as police vehicles, fire engines, rescue vehicles, and / or military vehicles. Alternatively and / or additionally, special operations vehicles can also be understood to mean refuse collection vehicles, road sweepers, road service vehicles, and / or construction vehicles.

[0015] In a preferred embodiment, it is provided that a request is also issued to the driver of the motor vehicle to follow the alternative route and / or to drive the motor vehicle at the alternative speed. The request can be issued on a display, such as a display of the navigation system, a screen, a head-up display and / or a display panel, such as an instrument cluster, of the motor vehicle, and / or via loudspeakers, for example by playing an audio file. The request is particularly useful when the motor vehicle is controlled manually by a driver. The current route of the motor vehicle is preferably replaced by the alternative route.In other words, the route guidance provided by the navigation system is adapted to the alternative route, so the driver simply follows the route provided by the navigation system, sometimes without noticing that it has been replaced by the alternative route. This has the advantage that the driver of the vehicle can concentrate on the traffic and driving safely without being exposed to a stressful and dangerous situation caused by the approaching special operations vehicle and without having to search for a route on the navigation map to avoid a collision with the special operations vehicle.

[0016] Additionally or alternatively, it is preferably provided that the drive and steering system of the motor vehicle is controlled for automated following of the alternative route and / or for automated driving of the motor vehicle at the alternative driving speed. In this case, the driver does not adjust the driving route and / or speed of the motor vehicle themselves, but is supported by an assistance system or an assistance system takes over complete control of the motor vehicle (self-steering motor vehicle). Because the alternative route and / or speed are automatically implemented for the motor vehicle, the user of the motor vehicle is neither aware of the SEF nor enters a dangerous situation associated with the SEF.

[0017] In a further preferred embodiment, the route information received by the special operations vehicle further includes location information and movement speeds of the special operations vehicle. Preferably, the transmission of location and movement speeds is carried out using cooperative awareness messages (CAM) in accordance with the ETSI EN 302 665 standard established by the European Telecommunications Standards Institute (ETSI). Particularly preferably, the transmission of location and movement speeds is carried out using decentralized environmental notification messages (DENM) in accordance with the ETSI TS 102 637 standard established by the ETSI.DENMs are used to transmit classification information, for example, an "emergency vehicle" classification, to signal to road users that the sender is an emergency vehicle on an emergency call, which accordingly enjoys a special right of way. The CV2X communication standard uses the term Basic Safety Messages (BSM), which combines CAM and DENM. In this embodiment, the location information and speed of the vehicle are received from the navigation system, and the estimated arrival times of the vehicle and the special emergency vehicle at a determined intersection point are determined based on the location information and speed of the vehicle and the special emergency vehicle. The determined arrival times of the vehicle and the special emergency vehicle are then used to determine the alternative route and / or speed.Knowing the current location information and movement speeds allows for a more precise calculation of the alternative route and / or speed of the motor vehicle to avoid a collision between the motor vehicle and the special operations vehicle. Preferably, the estimated arrival times of the motor vehicle and the special operations vehicle at the determined intersection point are determined at periodically repeated intervals to check whether the alternative route and / or speed of the motor vehicle is still suitable for preventing a collision between the motor vehicle and the special operations vehicle at the intersection point.Based on the result of the check, an updated alternative route and / or speed of the motor vehicle is calculated to avoid a collision of the motor vehicle with the SEF, which then preferentially replaces the alternative route and / or speed of the motor vehicle.

[0018] The alternative route and / or speed for the motor vehicle are preferably determined under the assumption that the difference between the arrival times of the motor vehicle and the special operations vehicle is at least 15 seconds, preferably 30 seconds, and particularly preferably one minute. In other words, the difference between the arrival times of the motor vehicle and the special operations vehicle represents a time buffer that serves to ensure that a collision between the motor vehicle and the special operations vehicle at the intersection point is prevented as far as possible.As the difference increases, the probability of a collision is reduced, but this also increases the risk that no alternative route and / or speed can be determined for the vehicle, or only with a very delayed alternative route and / or speed, which results in a negative influence of the SEF on the (recommended) traffic behavior of the vehicle and thus on all surrounding traffic.

[0019] In a further preferred embodiment, it is provided that a distance between the special operations vehicle and the motor vehicle is determined using the travel routes and / or the location information of the motor vehicle and the special operations vehicle. The checking of the travel routes of the motor vehicle and the special operations vehicle for intersection points takes place under the prerequisite that the determined distance between the special operations vehicle and the motor vehicle is less than 1000 m, preferably 750 m, particularly preferably 500 m. This can reduce the influence of SEFs on the (recommended) driving behavior of the motor vehicle that are not located within a predetermined environment of the motor vehicle. The basic assumption is that the further an SEF is from the motor vehicle, the less likely it is that their travel routes have an intersection point.Since this means that the routes are not checked for intersection points every time route information is received from an SEF, computing time can be saved.

[0020] In a further preferred embodiment, it is provided that the motor vehicle and / or the navigation system of the motor vehicle have a display. In this embodiment, the routes of the motor vehicle and special operations vehicle and preferably the alternative route and / or speed for the motor vehicle are shown on the display. The representation of the routes and / or speed on the display can differ in color and / or form. The representation of the routes on the display has the advantage for the driver of the motor vehicle that they can intuitively overview the current traffic situation with regard to the SEF and can react quickly to the SEF using the displayed alternative route and / or speed without being substantially distracted from driving the motor vehicle.In the case of a self-driving motor vehicle, the display of the driving routes and / or speed on the display is not mandatory, but serves to inform the user of the motor vehicle.

[0021] In a further preferred embodiment, if an intersection point between the travel routes of the motor vehicle and the special operations vehicle has been determined, the volume of the motor vehicle's loudspeakers is reduced and / or a light signal is emitted in the interior of the motor vehicle using a lighting system, in particular LED ambient lighting. For example, the lighting system is controlled to flash and / or to glow blue (if possible). In some embodiments, the loudspeaker is controlled to play a siren or siren sound. Likewise, a current telephone or video call is preferably interrupted or prevented. This serves to increase the driver's awareness of an SEF and the potential danger of the motor vehicle colliding with the SEF at an intersection point.

[0022] In a further preferred embodiment, it is provided that the motor vehicle further comprises a plurality of vehicle environment sensors for scanning the vehicle environment. The plurality of vehicle environment sensors preferably comprises a camera system, a radar system and / or a microphone system, each of which is configured to scan the vehicle environment of the motor vehicle. Using the plurality of vehicle environment sensors, the vehicle environment is preferably scanned for a special operations vehicle. Based on a result of the scanning of the vehicle environment for a special operations vehicle, a driving maneuver of the motor vehicle for evading the special operations vehicle is determined using the plurality of vehicle environment sensors. The driver of the motor vehicle is prompted to perform the determined driving maneuver and / or the drive and steering system of the motor vehicle is controlled to automatically perform the driving maneuver.The driving maneuvers preferably include changing lanes, forming an emergency lane, driving on a hard shoulder, and the like. Using the plurality of vehicle surroundings sensors, for example, a lane of the special operations vehicle and a lane of the motor vehicle can be detected and compared with one another in order to determine a suitable driving maneuver. In some embodiments, a driving maneuver to evade the special operations vehicle is determined if an alternative route and / or speed of the motor vehicle to evade the special operations vehicle cannot be determined. This is the case, for example, if the distance between the motor vehicle and the SEF and / or the time remaining until they collide is already too short, for example if there is visual contact between the motor vehicle and the SEF.Consequently, the safety of the motor vehicle driver can be improved by determining a driving maneuver required in relation to the SEF.

[0023] Another aspect relates to a method for a special operations vehicle. The special operations vehicle comprises a navigation system for calculating routes with start and destination points, and a radio system with a transceiver and an antenna configured to transmit and receive Car2X communication signals. According to the method, a route of the special operations vehicle is obtained from the navigation system, and route information comprising the route of the special operations vehicle is transmitted to the surroundings of the special operations vehicle using the radio system. The transmitted route information preferably further comprises an indicator, such as a DENM, which (unmistakably) indicates that the SEF is the source of the transmitted route information.For example, the signal transmitted by the radio system includes identification information of the SEF, which ensures that the signal receiver recognizes that the route contained in the route information is the route of the SEF. This serves to prevent misuse by non-SEFs and to reliably recognize the message recipients, i.e., the surrounding motor vehicles, that the message originates from an SEF. Accordingly, the receiving motor vehicle includes a control unit, such as a control device, which is configured to perform the method for adapting a route and / or speed of the motor vehicle depending on the indicator of the received route information.

[0024] A further aspect relates to a control device (control unit) for a motor vehicle, which is configured to carry out one or both of the above-mentioned methods. The motor vehicle is preferably designed as the above-described motor vehicle or as the above-described special operations vehicle. The optional features described with the methods and their advantages can be implemented analogously with the control device and can therefore be combined with one another as desired. The above-mentioned control unit is preferably implemented by electrical or electronic parts or components (hardware) or by firmware (ASIC). Additionally or alternatively, the functionality of the control unit is realized when executing a suitable program (software). Likewise preferably, the control unit is implemented by a combination of hardware, firmware and / or software.For example, individual components of the control unit are designed as a separate integrated circuit to provide individual functionalities or are arranged on a common integrated circuit.

[0025] The individual components of the control unit are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated upon execution of one or more computer programs. The computing devices are preferably configured to cooperate with other components, for example, a communications system or a motor controller, in order to implement the functionalities described herein. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory, or the like.

[0026] It will also be apparent to the person skilled in the art that the functionalities of several computing units (data processing devices) can be combined or combined in a single device or that the functionality of a particular data processing device can be distributed across a plurality of devices in order to implement the functionality of the control unit.

[0027] A further aspect relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a motor vehicle having a navigation system for calculating routes with start and destination points and a radio system with a transceiver and an antenna configured to transmit and receive Car2X communication signals, cause the computer to carry out one or both of the methods according to the invention, in particular a method for adapting a route and / or speed of a motor vehicle and / or a method for a special emergency vehicle.

[0028] Further preferred embodiments of the invention emerge from the remaining features recited in the subclaims. The various embodiments of the invention recited in this application can be advantageously combined with one another, unless otherwise stated in individual cases.

[0029] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show:

[0030] Figure 1 is a schematic representation of a motor vehicle according to a

[0031] embodiment;

[0032] Figure 2 is a schematic representation of a method according to a

[0033] form of implementation; and

[0034] Figure 3 is a schematic representation of a further method according to a

[0035] Implementation form.

[0036] Figure 1 shows a schematic representation of a motor vehicle 10 according to one embodiment. The motor vehicle 10 comprises a navigation system 12 for calculating routes A with start and destination points, and a radio system 14 with a transceiver and an antenna configured to transmit and receive Car2X communication signals. The navigation system 12 further comprises a display 16, for example a screen, for displaying geoinformation in the form of a navigation map and routes A, B, C. The display 16 is arranged in a front region of the center console of the motor vehicle 10 so as to be easily visible to a driver of the motor vehicle 10. The motor vehicle 10 further comprises a plurality of vehicle surroundings sensors 18 for scanning the vehicle surroundings, and a control unit 20.The plurality of vehicle environment sensors 18 includes a 360-degree camera system and a microphone system configured to capture images and sounds from the vehicle environment. The control unit 20 is connected to the navigation system 12, the radio system 14, and the plurality of vehicle environment sensors 18.

[0037] Figure 2 shows a schematic representation of a method according to one embodiment. The method is suitable for adapting a driving route A and / or speed of a motor vehicle 10. The motor vehicle 10 is the motor vehicle 10 shown in Figure 1. The control unit 20 is configured to carry out the method according to Figure 2. According to a first method step 50 of the method, route information is received from a special operations vehicle 30 using the radio system 14. The received route information comprises a driving route B of the special operations vehicle 30. The driving route B corresponds to a driving route from the special operations vehicle 30 to the destination location of the special operations vehicle 30.

[0038] In a second method step 52, a driving route A of the motor vehicle 10 is obtained from the navigation system 12. The driving route A was previously determined by the navigation system 12 based on a destination input by a user of the motor vehicle 10.

[0039] In a third method step 54, the driving routes A, B of the motor vehicle 10 and the special operations vehicle 30 are checked for intersection points X. The encounter of a motor vehicle 10 and a special operations vehicle 30 at an intersection point generally represents a potentially dangerous situation. This situation arises because the special operations vehicle 30 enjoys a special right of way to reach its destination quickly and must therefore be allowed to pass by road users as undisturbed as possible. This circumstance places the driver of the motor vehicle 10 in a particularly stressful and therefore dangerous situation, or at least in a traffic jam, which typically occurs on roads on which the special operations vehicle 30 is traveling.

[0040] Therefore, in a fourth method step 56, an alternative driving route C and / or driving speed for the motor vehicle 10 is calculated to avoid a collision between the motor vehicle 10 and the special operations vehicle 30 at a determined intersection point X.

[0041] As shown in the enlarged view of a screen of the display 16 in Figure 1 (below), the driving routes A, B of the motor vehicle 10 and the special operations vehicle 30 as well as the alternative driving route C are displayed in the map data displayed on the screen. The driving route A of the motor vehicle 10 is shown as a solid line, while the driving route B of the special operations vehicle 30 is shown in dotted lines and the alternative driving route C of the motor vehicle 10 is shown in dashed lines. By displaying the alternative driving route C, the driver of the motor vehicle 10 can intuitively follow the alternative driving route C in order to avoid a collision with the special operations vehicle 30 at the intersection point X. To intuitively distinguish the driving routes A, B, C, these can be designed in different colors and / or shapes.According to the determined alternative route C, for example, an intersection point (not shown) with the route B of the special operations vehicle 30 is established, which is shifted forward compared to the original intersection point X along the route B of the special operations vehicle 30. This shifts the respective points of impact of the motor vehicle 10 and the special operations vehicle 30. Therefore, the alternative route and / or speed is determined such that the special operations vehicle 30 has already passed the intersection point with the alternative route C as soon as the motor vehicle 10 arrives there. Consequently, according to the invention, the collision between the motor vehicle 10 and the special operations vehicle 30 can be prevented, thus avoiding dangerous accident situations.

[0042] It is understandable that the scenario described above represents merely an exemplary embodiment of the invention and that it is not limited to this scenario. Rather, the present invention can also be advantageously used, for example, for self-steering motor vehicles 10. In this case, the drive and steering system of the motor vehicle 10 is controlled for the automated following of the alternative route C and / or for the automated driving of the motor vehicle 10 at the alternative driving speed. In the same way, the collision between the motor vehicle 10 and the special operations vehicle 30 is (automatically) prevented by the systems of the self-steering motor vehicle, and dangerous accident situations are avoided in a similar manner.

[0043] Figure 3 shows a schematic representation of another method according to one embodiment. The method is suitable for a special operations vehicle 30, which also has a navigation system for calculating routes B with start and destination points and a radio system with a transceiver and an antenna configured for transmitting and receiving Car2X communication signals. Furthermore, the special operations vehicle 30 has a control unit 20 configured to carry out the method described herein.

[0044] According to a first method step 58 of the method for a special operations vehicle 30, a route B of the special operations vehicle 30 is obtained from the navigation system of the special operations vehicle 30. In a second method step 60, route information comprising the route B of the special operations vehicle 30 is transmitted to the surroundings of the special operations vehicle 30 using the radio system of the special operations vehicle 30.

[0045] List of reference symbols

[0046] 10 motor vehicle

[0047] 12 Motor vehicle navigation system

[0048] 14 Motor vehicle radio system

[0049] 16 Advertisement

[0050] 18 vehicle environment sensors

[0051] 20 Control unit

[0052] 30 special operations vehicles

[0053] 50 first process step (motor vehicle)

[0054] 52 second procedural step (motor vehicle)

[0055] 54 third procedural step (motor vehicle)

[0056] 56 fourth procedural step (motor vehicle)

[0057] 58 first procedural step (special operations vehicle)

[0058] 60 second procedural step (special operations vehicle)

[0059] A Driving route of the motor vehicle

[0060] B Route of the special operations vehicle

[0061] C alternative route of the motor vehicle

[0062] X Intersection point

Claims

Patent claims Method for adapting a driving route (A) and / or speed of a motor vehicle (10), wherein the motor vehicle (10) has a navigation system (12) for calculating driving routes (A) with starting and destination points and a radio system (14) with a transceiver and an antenna configured to transmit and receive Car2X communication signals, and the method comprises the steps: Receiving (50) route information from a Special operations vehicle (30) using the radio system (14), wherein the received route information comprises a travel route (B) of the special operations vehicle (30), Obtaining (52) a driving route (A) of the motor vehicle (10) from the navigation system (12), Checking (54) the driving routes (A, B) of the motor vehicle (10) and the special operations vehicle (30) for intersection points (X), and Determining (56) an alternative route (C) and / or speed for the motor vehicle (10) to avoid a collision between the motor vehicle (10) and the special operations vehicle (30) at a determined intersection point (X). The method according to claim 1, further comprising the steps: Issuing a request to the driver of the motor vehicle (10) to follow the alternative route (C) and / or to drive the motor vehicle (10) at the alternative driving speed and / or Controlling the drive and steering system of the motor vehicle (10) for automated following of the alternative route (C) and / or for automated driving of the motor vehicle (10) at the alternative driving speed. Method according to claim 1 or 2, wherein the route information received from the special operations vehicle (30) further includes location information and Movement speeds of the special operations vehicle (30) and the method further comprises the steps: Obtaining location information and movement speeds of the motor vehicle (10) from the navigation system (12), and Determining the expected arrival times of the motor vehicle (10) and the special operations vehicle (30) at a determined intersection point (X) based on the location information and movement speeds of the motor vehicle (10) and the special operations vehicle (30), wherein the determination of the alternative travel route (C) and / or speed for the motor vehicle (10) is carried out using the determined arrival times of the motor vehicle (10) and the special operations vehicle (30). The method according to claim 3, wherein the alternative travel route (C) and / or speed for the motor vehicle (10) is determined under the assumption that a difference between the arrival times of the motor vehicle (10) and the special operations vehicle (30) is at least 15 seconds, preferably 30 seconds, particularly preferably one minute. The method according to one of the preceding claims, further comprising the step: Determining a distance between the special operations vehicle (30) and the motor vehicle (10) using the travel routes (A, B) and / or the location information of the motor vehicle (10) and the special operations vehicle (30), wherein the checking of the travel routes (A, B) of the motor vehicle (10) and the special operations vehicle (30) for intersection points (X) is carried out under the assumption that the determined distance between the special operations vehicle (30) and the motor vehicle (10) is less than 1000 m, preferably 750 m, particularly preferably 500 m. The method according to one of the preceding claims, wherein the motor vehicle (10) and / or the navigation system (12) of the motor vehicle (10) have a display (16), and the method further comprises the step: Displaying the driving routes (A, B) of the motor vehicle (10) and the special operation vehicle (30) and preferably the alternative driving route (C) and / or speed for the motor vehicle (10) on the display (16). Method according to one of the preceding claims, wherein, if an intersection point (X) between the travel routes (A, B) of the motor vehicle (10) and the special operations vehicle (30) has been determined, a volume of the loudspeakers of the motor vehicle (10) is reduced and / or a light signal is emitted using a lighting system in the interior of the motor vehicle (10). Method according to one of the preceding claims, wherein the motor vehicle (10) further comprises a plurality of vehicle surroundings sensors (18) for scanning a vehicle surroundings, and the method further comprises the steps: Scanning the vehicle surroundings for a special operations vehicle (30) using the plurality of vehicle surroundings sensors (18), based on a result of the scanning of the vehicle surroundings for a special operations vehicle (30), determining a driving maneuver of the motor vehicle (10) to avoid the special operations vehicle (30) using the plurality of vehicle surroundings sensors (18), and Issuing a request to the driver of the motor vehicle (10) to carry out the determined driving maneuver and / or Controlling the drive and steering system of the motor vehicle (10) for automatically performing the driving maneuver. A method for a special operations vehicle (30), wherein the special operations vehicle (30) has a navigation system for calculating routes (B) with start and destination points and a radio system with a transceiver and an antenna configured for transmitting and receiving Car2X communication signals, and the method comprises the steps: Obtaining (58) a route (B) of the special operations vehicle (30) from the navigation system, Transmitting (60) route information into the surrounding area using the radio system, wherein the route information comprises the travel route (B) of the special operations vehicle (30). A control unit (20) for a motor vehicle (10), configured to carry out a method according to one of claims 1 to 8 and / or a method according to claim 9.

Images