Operating method for an autonomous vehicle for automatically coordinating a driving maneuver

Abstract

A method for operating an autonomous vehicle, wherein a coordination unit of an autonomous first vehicle detects a driving situation of the autonomous first vehicle involving a second vehicle during autonomous operation of the first vehicle, and a driving assistance system of the autonomous first vehicle plans a driving maneuver depending on the detected driving situation.

Description

[0001] Operating procedure for an autonomous vehicle for automatically coordinating a driving maneuver

[0002] DESCRIPTION:

[0003] The invention relates to a method for operating an autonomous vehicle, in which a coordination device of an autonomous first vehicle detects a driving situation involving a second vehicle during autonomous operation of the first vehicle, and a driver assistance system of the autonomous first vehicle plans a driving maneuver depending on the detected driving situation. The invention further relates to a control unit for a vehicle and a second vehicle.

[0004] Methods of the type mentioned above, in various forms, represent the state of the art and serve to ensure the safe autonomous operation, i.e., safe driving, of an autonomous vehicle. Safe driving is particularly compromised by other vehicles involved in the autonomous vehicle's driving situations.

[0005] Consequently, suitable operating procedures must enable the autonomous vehicle to perform a safe driving maneuver in a detected driving situation, even if at least one other vehicle, hereinafter referred to as the second vehicle, is involved in the detected driving situation. The safety of a planned driving maneuver can be increased simply by the autonomous vehicle informing the second vehicle about the planned maneuver in advance.

[0006] DE 10 2019 216 913 A1 discloses a method for sending a message between vehicles, in which, depending on received communication data and sensor-acquired environmental data, a possible trajectory of a first vehicle defined by trajectory parameters is determined, a relevance of the possible trajectory for the first vehicle or a second vehicle is determined depending on a trajectory parameter, and a message comprising the determined trajectory with a transmission priority corresponding to the determined relevance is sent to the second vehicle.

[0007] The determined trajectory can, of course, include a planned driving maneuver of the first vehicle, such as a lane change, overtaking, acceleration, braking, turning, and the like. The more relevant the determined trajectory of the first vehicle is, the higher the priority given to the transmitted message. This ensures that the second vehicle is informed about the trajectory determined by the first vehicle as early as possible and can adjust its own trajectory accordingly in a timely manner.

[0008] To further enhance the safety of autonomous vehicles' driving maneuvers, planned maneuvers can be negotiated interactively between vehicles. In this case, safety can be further increased by informing the second vehicle about the execution of the negotiated maneuver after it has been agreed upon.

[0009] For example, DE 10 2020 122 232 A1 discloses a method for coordinating a driving maneuver between vehicles, in which at least two vehicles negotiate a planned maneuver by a first vehicle concerning a roadway area, for example using a Complex Interactions among Connected Vehicles Protocol (CVIP), and a message concerning entering or leaving the roadway area is sent to a second vehicle when the first vehicle enters or leaves the roadway area. Furthermore, it is also desirable that a driver of a first vehicle be able to send a personal message to a driver of a second vehicle easily, i.e., using natural language and without known contact details, independently of a planned driving maneuver, while the first vehicle is driving.

[0010] US 2020 / 0404462 A1 discloses such a method for sending a message between vehicles, for example, a warning message. In this method, a stationary server receives a voice message and video content from a first vehicle. Based on the received voice message and video content, the stationary server uses Natural Language Processing (NLP) or Pattern Recognition to determine a message purpose, a second vehicle, and message content. Depending on the determined message purpose, the stationary server then sends the determined message content to the identified second vehicle.

[0011] Driving situations and the driving maneuvers possible and actually occurring in each situation are extremely diverse and can also be very complex. While standardization bodies, such as ETSI, attempt to define V2X message types suitable for coordinating driving maneuvers, it is virtually impossible to fully represent the various maneuvers with just a few V2X message types. Furthermore, the complexity of the maneuvers necessitates an almost unmanageable level of differentiation for each individual V2X message type.

[0012] Therefore, it cannot be avoided that at least some driving maneuvers that occur in practice cannot be described or at least insufficiently described and thus coordinated using standardized V2X message types, which entails a corresponding risk of accidents.

[0013] Based on this prior art, one object of the invention is to propose a method for operating an autonomous vehicle that flexibly supports the automatic coordination of every possible driving maneuver of the autonomous vehicle. A further object of the invention is to provide a control unit for a vehicle and a vehicle.

[0014] An object of the invention is a method for operating an autonomous vehicle, in which a coordination device of an autonomous first vehicle detects a driving situation involving a second vehicle during autonomous operation of the first vehicle, and a driver assistance system of the autonomous first vehicle plans a driving maneuver depending on the detected driving situation. The two vehicles can be passenger cars, trucks, or other road-legal vehicles. The second vehicle can advantageously also be an autonomous vehicle, but need not be. As is customary, the numbering of the two vehicles serves only to distinguish them and does not restrict the method; that is, in the case of two autonomous vehicles, i.e., a symmetrical configuration, both possible numbering systems are equivalent.

[0015] The driving situation comprises the environment of the autonomous first vehicle and at least the second vehicle located in the environment of the autonomous first vehicle. The driving situation may also include infrastructure facilities located in the environment of the autonomous first vehicle. It is understood that several second vehicles may be located in the environment of the autonomous first vehicle and, consequently, several second vehicles may be involved in the driving situation.

[0016] In the method according to the invention, the coordination device of the autonomous first vehicle generates free text describing the planned driving maneuver and addressing the second vehicle. A communication device of the autonomous first vehicle then sends a message containing this free text as a broadcast message. The coordination device of the autonomous first vehicle then waits a predetermined time for a message from the second vehicle. The free text is not limited to specific text types and allows for the description of any possible driving maneuver encountered in practice. Furthermore, the free text enables the description and, consequently, the precise addressing of the generally unrelated second vehicle. For example, the free text could read: "I want to overtake the blue vehicle with license plate ABC at position POS and time TIME in lane X."

[0017] The message is sent as a broadcast and can be received by any other vehicle, including the second vehicle considered here as an example. The message is therefore not sent to a specific recipient. However, the free text is addressed exclusively to each second vehicle described within it. In this way, every possible driving maneuver of the autonomous first vehicle is supported flexibly and regardless of the number of second vehicles involved. Naturally, the first vehicle can send multiple messages with different free texts regarding the planned driving maneuver. The different free texts then each address different second vehicles involved in the planned driving maneuver.

[0018] Preferably, a communication device in the second vehicle receives the sent message, a coordination device in the second vehicle detects a driving situation of the second vehicle, the coordination device interprets the free text of the received message, the coordination device recognizes itself as being addressed by the interpreted free text, the coordination device determines a relevance value of the driving maneuver described by the free text depending on the interpreted free text and a detected driving situation, and a driver assistance system in the second vehicle takes the described driving maneuver into account when determining a trajectory of the second vehicle if the determined relevance value exceeds a threshold and the second vehicle is driving autonomously, or an infotainment system in the second vehicle informs a driver of the second vehicle about the described driving maneuver.If the determined relevance value exceeds the threshold and the second vehicle is driven manually by the driver, this variant of the method requires that the second vehicle is also designed according to the invention. The relevance value corresponds to a danger or risk of the described driving maneuver for the second vehicle. The threshold serves to enforce a binary decision regarding the behavior of the second vehicle.

[0019] If the second vehicle is driving autonomously, its coordination device can additionally determine the relevance value based on a detected driving situation. Furthermore, the second vehicle can automatically adjust its trajectory to the described driving maneuver of the autonomous first vehicle, if necessary.

[0020] If the second vehicle is manually controlled, the coordination device can inform the driver and thereby prompt them to manually adjust the trajectory of the second vehicle to the described driving maneuver of the autonomous first vehicle, if necessary.

[0021] If, on the other hand, the determined relevance value is lower than the threshold, the trajectory of the second vehicle does not need to be changed.

[0022] The adaptive response of the second vehicle increases the safety of the described driving maneuver.

[0023] In one embodiment, the coordination device of the second vehicle generates a free text message indicating the determined relevance value and addressing the autonomous first vehicle. A communication device of the second vehicle then sends a message containing this free text as a broadcast message. The message sent by the second vehicle enables negotiation of the driving maneuver between the autonomous first vehicle and the second vehicle, resulting in a further increase in maneuver safety. This embodiment can be referred to as the Acknowledgement (ACK) variant.Within the waiting period, the communication device of the autonomous first vehicle can receive the message sent by the second vehicle. The coordination device of the autonomous first vehicle can interpret the free text of the received message, recognize itself as addressed by the interpreted free text, and, depending on the interpreted free text and the recognized driving situation, determine a freedom value for the planned driving maneuver. The driver assistance system of the autonomous first vehicle can then refrain from the planned driving maneuver if the determined freedom value falls below a threshold, or execute the planned driving maneuver if the determined freedom value exceeds the threshold. The threshold serves to enforce a binary decision regarding the behavior of the first vehicle. The freedom value corresponds to the safety or risk-free nature of the described driving maneuver for the autonomous first vehicle.In this way, safe driving maneuvers are performed, while risky driving maneuvers are avoided.

[0024] If several second vehicles are involved in the planned maneuver, the first vehicle may receive multiple messages sent by these second vehicles. Ideally, the first vehicle's coordination device considers each received message from an involved second vehicle when deciding whether to proceed with or refrain from the planned maneuver.

[0025] In an alternative embodiment, if the communication device of the autonomous first vehicle does not receive a message from the second vehicle within the waiting period, the coordination device determines a freedom value for the planned driving maneuver based on the detected driving situation. The driver assistance system of the autonomous first vehicle then either refrains from performing the planned driving maneuver if the determined freedom value falls below a threshold, or executes the planned driving maneuver if the determined freedom value exceeds the threshold. This variant does not require a second vehicle configured according to the invention; that is, the autonomous first vehicle decides independently and autonomously on the described driving maneuver after evaluating the driving situation.In other words, the coordination device of the autonomous first vehicle can take a message from the second vehicle into account, but does not require a message from the second vehicle. Therefore, this variant is useful in an introductory phase during which the proportion of vehicles configured according to the invention is still relatively small.

[0026] In a further alternative embodiment, the communication device of the autonomous first vehicle does not receive a message from the second vehicle within the waiting period, and the driver assistance system of the autonomous first vehicle executes the described driving maneuver without further ado. This variant also does not require a second vehicle configured according to the invention; that is, if no message is received from the second vehicle, the autonomous first vehicle decides to execute the described driving maneuver without determining a freedom value. This embodiment can be referred to as the no-acknowledgement (NACK) variant.

[0027] Ideally, the coordination device of the autonomous first vehicle and / or the second vehicle can recognize the driving situation based on received V2X messages and / or on sensor-acquired environmental data evaluated by a Visual Question Answering (VQA) module of the coordination device. In addition, the coordination device can receive Cooperative Perception Messages (CPMs), text messages, or images from the second vehicle and use them to recognize the driving situation.

[0028] Preferably, a Large Language Model (LLM) module of the coordination device generates and / or interprets the free text. The LLM can take the context of the free text into account when generating or interpreting it.

[0029] Each message can be sent or received via a V2X connection, a WLAN connection, or a cellular connection. Vehicle-to-Everything (V2X) communication, WLAN connection, and cellular connection are common wireless connections for vehicle communication.

[0030] In particular, every message between the autonomous first vehicle and the second vehicle is transmitted directly or indirectly via an infrastructure facility on a lane associated with the driving situation, or indirectly via an edge data center, or indirectly via an internet cloud. A message transmitted as a vehicle-to-vehicle (V2V) message is transmitted directly between two vehicles. In contrast, vehicle-to-infrastructure (V2I) messages are transmitted via the infrastructure facility. Messages transmitted using the TCP / IP or UDP / IP protocols can be transmitted over a cellular network. While the edge data center is located at least logically adjacent to a base transceiver station (BTS) of the cellular network to which the vehicles are connected, the internet cloud can be located anywhere.

[0031] Another object of the invention is a control unit for a vehicle.

[0032] According to the invention, the control unit is configured to participate in a method according to one embodiment of the invention as the coordination device of the autonomous first vehicle or as the coordination device of the second vehicle. The control unit enables the vehicle to flexibly and automatically coordinate any possible driving maneuver.

[0033] Another item is a vehicle with a communication device, a driver assistance system, and a coordination device functionally connected to the communication device and the driver assistance system. The coordination device can be configured separately from the communication device and separately from the driver assistance system. Alternatively, the coordination device can be integrated with the communication device and / or the driver assistance system. According to the invention, the vehicle is configured to execute a method according to one embodiment of the invention as the autonomous first vehicle together with the second vehicle. The configuration according to the invention enables the vehicle to flexibly and automatically coordinate any possible driving maneuver.

[0034] The coordination device can include a Large Language Model (LLM) module and / or a Visual Question Answering (VQA) module. The LLM module can consider the context of free text when generating or interpreting it, thus enabling context-based information exchange between participating vehicles. Instead of a Large Language Model, other text-based decision algorithms can be used. Instead of VQA, traditional object recognition algorithms or artificial neural networks can be used to classify visually recognized objects.

[0035] A key advantage of the method according to the invention is that it flexibly supports the automatic coordination of every possible driving maneuver of the autonomous vehicle. A further advantage is that the method can adapt to varying levels of cooperation with a second vehicle.

[0036] The invention is schematically illustrated with reference to embodiments in the drawings and is further described with reference to the drawings. It shows:

[0037] Figure 1 shows a functional view of an autonomous first vehicle according to an embodiment of the invention and a second vehicle;

[0038] Figure 2 shows a flowchart of a method according to an embodiment of the invention for operating an autonomous vehicle from the perspective of the autonomous first vehicle; Figure 3 shows a flowchart of the method shown in Figure 2 from the perspective of the second vehicle.

[0039] Figure 1 shows a functional view of an autonomous first vehicle 1 according to an embodiment of the invention and a second vehicle 2. The autonomous first vehicle 1 comprises a communication device 10, a driver assistance system 12, and a coordination device 11. The coordination device 11 can include a Large Language Model (LLM) module 110 and a Visual Question Answering (VQA) module 111. The communication device 10 is functionally connected to the LLM module 110. The driver assistance system 12 is functionally connected to the VQA module 111.

[0040] The autonomous first vehicle 1 may also include an external optical sensor 13 functionally connected to the VQA module 111, an infotainment system 14 functionally connected to the VQA module 111, and vehicle sensors 15 functionally connected to the LLM module 110. The external optical sensor 13 is, for example, configured as a camera, a depth camera, an ultrasonic sensor, or a LiDAR sensor.

[0041] The VQA module 111 can also be functionally linked to a question selection module 113, which in turn is functionally linked to a question database 112 and an environment model 114. The question selection module 113, the question database 112, and the environment model 114 can also belong to the autonomous vehicle 1.

[0042] The second vehicle 2 comprises a communication device 20 and a coordination device 21. The coordination device 21 may include an LLM module 210 and a VQA module 211. The communication device 20 is functionally connected to the LLM module 210. The second vehicle 2 may also include a driver assistance system 22 and an infotainment system 24, each functionally connected to the VQA module 211. The second vehicle 2 may also include a forwarding mechanism 23, which is functionally connected to the LLM module 210. The autonomous first vehicle 1 and the second vehicle 2, more precisely their respective communication devices 10 and 20, are connected via a wireless connection 3. The wireless connection 3 may be configured as a Vehicle-to-Everything (V2X) connection, a Wireless Local Area Network (WLAN) connection, or a cellular network connection.

[0043] The autonomous first vehicle 1 is configured to perform a method 4 according to an embodiment of the invention as follows: the autonomous first vehicle 1 together with the second vehicle 2.

[0044] Figure 2 shows in a flowchart the method 4 according to an embodiment of the invention for operating an autonomous vehicle 1 from the perspective of the autonomous first vehicle 1. The method 4 serves to operate an autonomous vehicle.

[0045] During autonomous operation of the first vehicle 1, the coordination device 11 of the autonomous first vehicle 1 detects a driving situation involving a second vehicle 2. The driver assistance system 12 of the autonomous first vehicle 1 plans a driving maneuver 40 depending on the detected driving situation.

[0046] The coordination device 11 of the autonomous first vehicle 1 generates 41 a free text describing the planned driving maneuver and addressing the second vehicle 2. The communication device 10 of the autonomous first vehicle 1 sends 42 a message containing the generated free text as a broadcast message.

[0047] The coordination device 11 of the autonomous first vehicle 1 waits 43 a predetermined waiting time for a message from the second vehicle 2.

[0048] Method 4 can implement at least one of the three variants described below. In a first variant, which requires a second vehicle 2 also configured according to the invention, the coordination device 21 of the second vehicle 2 further generates a free text indicating the determined relevance value and addressing the autonomous first vehicle 1, and sends 48 the communication device 20 of the second vehicle 2 a message with the generated free text as a broadcast message.

[0049] Within the waiting period, the communication device 10 of the autonomous first vehicle 1 can receive the message sent by the second vehicle 2. The coordination device 11 of the autonomous first vehicle 1 can interpret the free text of the received message 50, recognize itself as addressed by the interpreted free text, and, depending on the interpreted free text and the recognized driving situation, determine a freedom value for the planned driving maneuver 51. The driver assistance system 12 of the autonomous first vehicle 1 can refrain from performing the planned driving maneuver 52 if the determined freedom value falls below a threshold, or perform it 53 if the determined freedom value exceeds the threshold.

[0050] In a second variant, which does not require a second vehicle 2 configured according to the invention, the communication device 10 of the autonomous first vehicle 1 does not receive a message from the second vehicle 2 within the waiting time, 51 the coordination device 11 of the autonomous first vehicle 1 determines a freedom value for the planned driving maneuver depending on the detected driving situation, and 52 the driving assistance system 12 of the autonomous first vehicle 1 refrains from carrying out the planned driving maneuver if the determined freedom value falls below a threshold value, or 53 the driving assistance system 12 of the autonomous first vehicle 1 carries out the planned driving maneuver if the determined freedom value exceeds the threshold value.

[0051] In a third variant, which also does not require a second vehicle 2 configured according to the invention, the communication device 10 of the autonomous first vehicle 1 does not receive a message from the second vehicle 2 within the waiting time and the driving assistance system 12 of the autonomous first vehicle 1 carries out the described driving maneuver without further ado 53.

[0052] Preferably, a Large Language Model, LLM, module 110, 210 of the coordination device 11 , 21 can generate the free text 41 and / or interpret it 50.

[0053] The coordination device 11, 21 of the autonomous first vehicle 1 and / or the second vehicle 2 can detect the driving situation based on received V2X messages and / or on sensor-acquired environmental data evaluated by the Visual Question Answering, VQA, module 111, 211 of the coordination device 11, 21 54.

[0054] Each message can be sent or received via the wireless connection 3, for example, a V2X connection, a WLAN connection, or a cellular network. Between the autonomous first vehicle 1 and the second vehicle 2, each message can also be transmitted directly or indirectly via an infrastructure facility on a lane associated with the driving situation, or indirectly via an edge data center, or indirectly via an internet cloud.

[0055] Fig. 3 shows in a flowchart the method 4 shown in Figure 2 from the perspective of the second vehicle 2. The communication device 20 of the second vehicle 2 can receive the sent message 44. If the second vehicle 2 is also configured according to the invention, the coordination device 21 of the second vehicle 2 recognizes a driving situation of the second vehicle 2, the coordination device 21 interprets the free text of the received message, the coordination device 21 recognizes itself as being addressed by the interpreted free text, and 45 the coordination device 21 determines a relevance value of the driving maneuver described by the free text, depending on the interpreted free text.

[0056] The driver assistance system 22 of the second vehicle 2 can take the described driving maneuver into account when determining a trajectory of the second vehicle 2 46 if the determined relevance value exceeds a threshold and the second vehicle 2 is driving autonomously. Additionally or alternatively, the infotainment system 24 of the second vehicle 2 can inform a driver of the second vehicle 2 about the described driving maneuver 47 if the determined relevance value exceeds the threshold and the second vehicle 2 is being driven manually by the driver. If the determined relevance value does not exceed the threshold, the second vehicle 2 can ignore the described driving maneuver 49.

[0057] REFERENCE MARK LIST:

[0058] 1 autonomous first vehicle

[0059] 10 Communication device

[0060] 11 Coordination device

[0061] 110 LLM module

[0062] 111 VQA module

[0063] 112 Question Database

[0064] 113 Question Selection Module

[0065] 114 Environment model

[0066] 12 Driver assistance systems

[0067] 13 optical external sensor

[0068] 14 Infotainment system

[0069] 15 Vehicle sensors

[0070] 2 autonomous second vehicles

[0071] 20 grain communication device

[0072] 21 Coordination device

[0073] 210 LLM module

[0074] 211 VQA module

[0075] 22 Driver assistance systems

[0076] 23 Forwarding mechanism

[0077] 24 Infotainment system

[0078] 3 wireless connection

[0079] 4 procedures

[0080] 40 tarpaulins

[0081] 41 Generate

[0082] 42 Send

[0083] 43 Waiting

[0084] 44 Received

[0085] 45 Determining a relevance score

[0086] 46 Consider

[0087] 47 Inform

[0088] 48 Generating and Maintaining

[0089] 49 Ignore 50 Interpret

[0090] 51 Determining a freedom value

[0091] 52 Failure to perform the driving maneuver

[0092] 53 Performing the driving maneuver 54 Recognizing

Claims

PATENT CLAIMS:

1. Method (4) for operating an autonomous vehicle (1) in which a coordination device (11) of an autonomous first vehicle (1) detects a driving situation of the autonomous first vehicle (1) involving a second vehicle (2) during autonomous operation of the first vehicle (1) and a driver assistance system (12) of the autonomous first vehicle (1) plans a driving maneuver depending on the detected driving situation (40); the coordination device (11) of the autonomous first vehicle (1) generates a free text describing the planned driving maneuver and addressing the second vehicle (2) (41) and a communication device (10) of the autonomous first vehicle (1) sends a message with the generated free text as a broadcast message (42); the coordination device (11) of the autonomous first vehicle (1) waits a predetermined waiting time for a message from the second vehicle (2) (43).

2. A method according to claim 1, wherein a communication device (20) of the second vehicle (2) receives the transmitted message (44) and a coordination device (21) of the second vehicle (2) recognizes a driving situation of the second vehicle (2), interprets the free text of the received message, recognizes itself as addressed by the interpreted free text and determines a relevance value of the driving maneuver described by the free text depending on the interpreted free text (45); a driver assistance system (22) of the second vehicle (2) takes the described driving maneuver into account when determining a trajectory of the second vehicle (2) (46) if the determined relevance value exceeds a threshold and the second vehicle (2) is driving autonomously, or an infotainment system (24) of the second vehicle (2) informs a driver of the second vehicle (2) about the described driving maneuver (47) if the determined relevance value exceeds the threshold. value is exceeded and the second vehicle (2) is driven manually by the driver.

3. Method according to claim 2, wherein the coordination device (21 ) of the second vehicle (2) generates a free text indicating the determined relevance value and addressing the autonomous first vehicle (1 ) and a communication device (20) of the second vehicle (2) sends a message with the generated free text as a broadcast message (48).

4. Method according to claim 3, wherein the communication device (10) of the autonomous first vehicle (1) receives the message sent by the second vehicle (2) within the waiting time, the coordination device (11) of the autonomous first vehicle (1) interprets the free text of the received message (50), recognizes itself as being addressed by the interpreted free text and, depending on the interpreted free text and the recognized driving situation, determines a freedom value for the planned driving maneuver (51) and the driver assistance system (12) of the autonomous first vehicle (1) refrains from carrying out the planned driving maneuver (52) if the determined freedom value falls below a threshold value, or carries out the planned driving maneuver (53) if the determined freedom value exceeds the threshold value.

5. Method according to claim 3, wherein the communication device (10) of the autonomous first vehicle (1) does not receive a message from the second vehicle within the waiting time, the coordination device (11) of the autonomous first vehicle (1) determines a freedom value for the planned driving maneuver depending on the detected driving situation (51), and the driver assistance system (12) of the autonomous first vehicle (1) refrains from carrying out the planned driving maneuver (52) if the determined freedom value falls below a threshold, or carries out the planned driving maneuver (53) if the determined freedom value exceeds the threshold.

6. Method according to claim 1, wherein the communication device (11) of the autonomous first vehicle (1) does not receive a message from the second vehicle (2) within the waiting time and the driver assistance system (12) of the autonomous first vehicle (1) carries out the described driving maneuver without further ado (53).

7. Method according to claim 1, wherein the coordination device (11, 21) of the autonomous first vehicle (1) and / or the second vehicle (2) detects the driving situation based on received V2X messages and / or on sensor-acquired environmental data evaluated by a Visual Question Answering, VQA, module (111, 211) of the coordination device (11, 21) (54).

8. Method according to any one of claims 1 to 7, wherein a Large Language Model, LLM, module (110, 210) of the coordination device (11 , 21 ) generates (41 ) and / or interprets (50) the free text.

9. Method according to any one of claims 1 to 8, wherein each message is sent or received by means of a V2X connection (3), by means of a WLAN connection or by means of a mobile network and / or is transmitted between the autonomous first vehicle (1 ) and the second vehicle (2) directly or indirectly via an infrastructure facility of a roadway assigned to the driving situation or indirectly via an Edge Data Center or indirectly via an Internet cloud.

10. Vehicle (1) comprising a communication device (10), a driver assistance system (12) and a coordination device (11) functionally connected to the communication device (10) and the driver assistance system (12) and configured to perform a method according to any one of claims 1 to 9 as the autonomous first vehicle (1) together with the second vehicle (2).

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