| 摘要 |
In a method for coordinating operation of motor vehicles driving fully automated, a trajectory described by a driving intervention is determined for each motor vehicle from status information of the motor vehicle, whereafter it is determined by an on-board vehicle system whether a coordination condition exists that requires coordination. If a coordination condition exists, trajectory data describing the trajectory are exchanged between the motor vehicles via a communication link through an on-board communication device and the trajectory is checked for conflicts caused by spatial and temporal overlap of the trajectories of at least two motor vehicles and/or because at least one of the motor vehicles did not reach its destination. If a conflict exists, the trajectory of a motor vehicle participating in the conflict is adjusted based on an arbitration rule evaluated by an arbitration device, whereafter the driving interventions described by the trajectory are performed by each motor vehicle. |
| 主权项 |
1. A method for coordinating operation of motor vehicles driving in fully automated mode, comprising the steps of:
determining with an on-board vehicle system for each motor vehicle a trajectory that is described by at least one driving intervention from vehicle-specific information describing a condition of the motor vehicle including a destination, and environmental information describing an environment of the motor vehicle, determining with the on-board vehicle system whether at least one coordination condition exists indicating that a trajectory of the motor vehicles has to be coordinated, when the at least one coordination conditions exists, performing the following steps:
exchanging with an on-board communication device of each motor vehicle via a communication link trajectory data that describe the trajectory,checking the trajectories of the vehicles for conflicts that exist when the trajectories of at least two of the motor vehicles spatially and temporally overlap,when a conflict exists: adjusting the trajectory of at least one motor vehicle involved in the conflict based on at least one arbitration rule, which is evaluated by an arbitration device selected from the vehicle system of a motor vehicle involved in the conflict and a computing device, and transmitting the respective adapted trajectory via the respective communication device to the respective motor vehicle, and executing with each motor vehicle the at least one driving intervention described by the respective trajectory,wherein the at least one coordination condition comprises determining with the vehicle system a blockade condition indicating a blockade, wherein when a blockade condition exists, the vehicle system is configured to determine a trajectory, which according to the environmental information cannot be executed without changing a position or a movement of at least one of other motor vehicles predicted by the vehicle system,wherein the blockade condition represents a situation where within a predetermined time interval, a distance between the motor vehicle and the destination is never smaller than a smallest distance between the motor vehicle and the destination before a start of this predetermined time interval. |
