DE102015220481A1 - Method and device in a traffic unit for the cooperative tuning of driving maneuvers of at least two motor vehicles - Google Patents

Abstract

The invention relates to methods in a traffic unit (55) for the cooperative tuning of driving maneuvers of at least two motor vehicles (50, 51, 52), comprising the following steps: detecting a traffic situation (60) in the vicinity of the at least two motor vehicles (50, 51, 52 ) by at least one sensor (2), predicting a future traffic situation of the at least two motor vehicles (50, 51, 52) on the basis of the environment data acquired by the at least one sensor (2) by a prediction device (5), checking on the basis of the future traffic situation, whether at least one triggering criterion (20) is present by the forecasting device (5), and if a triggering criterion (20) exists: transmitting a request (21) to other traffic units (55) in the environment by a planning device (6), and if the traffic unit ( 55) of one of the at least two motor vehicles (50, 51, 52) is: transmitting properties (25) of the motor vehicle (50) after receiving d he request (21); further receiving characteristics (26) of other motor vehicles (51, 52) by the scheduler (6), scheduling trajectories (30) for the at least two motor vehicles (50, 51, 52). Furthermore, the invention relates to an associated device (1).

Description

The invention relates to a method and a device in a traffic unit for the cooperative tuning of driving maneuvers of at least two motor vehicles.

Modern motor vehicles have a variety of assistance systems that assist the driver in driving the vehicle. Increasingly, semi-autonomous and autonomous systems are used which permit semi-automatic or fully automatic control of the motor vehicle. These intelligent (partially) automated vehicles continuously make decisions that affect their own driving behavior. These decisions are made individually and self-responsible in each vehicle. This means that the mutual reaction of the individuals takes place through a continuous plan adaptation to the current assumption of the driving behavior of the surrounding vehicles. This individual decoupled decision can lead to sub-optimal or unstable - constantly changing - decisions.

From the DE 10 2012 011 994 A1 a method is known for cooperatively controlling a traffic situation with at least two vehicles which exchange information between the at least two vehicles by means of a Car2Car interface, the exchanged information serving to influence the driving behavior of the vehicles involved. In this case, as information to be exchanged, in addition to the current driving behavior and current driving information, a driving behavior intended by a first vehicle is transmitted to a second vehicle of the at least two vehicles. Based on the information about the intended driving behavior, the second vehicle adapts its driving behavior to the intended driving behavior of the first vehicle.

From the EP 2 164 059 A1 a method is known for controlling a traffic situation in which a number of vehicles are involved, in which the traffic situation is detected by sensors of the vehicles and data relating to the detected traffic situation between the vehicles is exchanged, so that common data on the traffic situation are provided for the vehicles , where trajectories of the vehicles are regulated taking into account the common data. Furthermore, an arrangement for controlling a traffic situation is known.

The disadvantage of the aforementioned method is that although a traffic situation between several motor vehicles is distributed, the coordination is based on the decoupled evaluations of individually planned trajectories. On the one hand, the procedures do not share the expected behavior of the other road users, and on the other hand, the voice is limited to approval and rejection and does not actively participate in shaping the solution.

The invention is based on the technical problem of providing a method and device in a traffic unit for the cooperative tuning of driving maneuvers of at least two motor vehicles, in which a tuning is improved.

The technical problem is solved by a method with the features of claim 1 and a device having the features of claim 10. Advantageous embodiments of the invention will become apparent from the dependent claims.

For this purpose, a method is provided in a traffic unit for the cooperative tuning of driving maneuvers of at least two motor vehicles, wherein the at least two motor vehicles are traffic units and the traffic units communicate via a Car2Car interface, comprising the following steps: detecting a traffic situation in the vicinity of the at least two Motor vehicles by at least one sensor, predicting a future traffic situation of the at least two vehicles based on the at least one sensor detected environment data by a forecasting device, Checking on the basis of the future traffic situation, if at least one triggering criterion is present by the forecasting device, and if a triggering criterion exists: Send a request to other traffic units in the vicinity by a planning device, and if the traffic unit is one of the at least two motor vehicles: transmitting properties the motor vehicle after receiving the request; further receiving characteristics of other motor vehicles by the scheduler, scheduling trajectories for the at least two vehicles in the scheduler, wherein scheduling the trajectories is performed based on environmental data sensed by the at least one sensor and the characteristics of the at least two vehicles, transmitting the scheduled Trajectories to the other traffic units in the environment, receiving planned trajectories (one trajectory per vehicle involved) from the other traffic units in the environment, evaluating the planned trajectories by a Evaluation device based on a rating scale, transmitting the ratings for the scheduled trajectories to the other traffic units, receiving ratings for the planned trajectories from the other traffic units, selecting an optimal combination of planned trajectories for the at least two vehicles by the scheduler based on all ratings and a predetermined selection criterion, performing the optimal combination of planned trajectories by the at least two motor vehicles, wherein the request comprises at least one destination of the request, a range of interaction and the rating scale, and the properties include at least performance data and a unique identifier of the respective transmitting motor vehicle.

Furthermore, a device is provided in a traffic unit for the cooperative tuning of driving maneuvers of at least two motor vehicles, comprising at least one sensor for detecting an environment of the at least two motor vehicles, a Car2Car interface and a controller, the controller having a forecasting device for predicting a future traffic situation of the at least two motor vehicles based on environment data acquired by the at least one sensor and for checking a triggering criterion, a planning device for planning trajectories (one trajectory per participating vehicle) for the at least two motor vehicles and an evaluation device for evaluating the planned trajectories; and wherein the controller is designed such that, if a triggering criterion is met, by the planning device via the Car2Car interface to send a request to other traffic units in the environment, and if the traffic unit is one of the at least two motor vehicles: after receiving a request from another traffic unit to transmit properties of the motor vehicle by the planning device; Furthermore, by the planning device to receive properties of other motor vehicles, and to plan trajectories for the at least two vehicles in the planning device, wherein the planning of the trajectories based on at least one sensor detected environment data and the characteristics of the at least two motor vehicles is performed, then by the planning device to transmit the planned trajectories via the Car2Car interface to the other traffic units, and to receive planned trajectories of the other traffic units via the Car2Car interface by the planning device, to evaluate the planned trajectories by the evaluation device on the basis of a rating scale and then the To transmit ratings for the planned trajectories via the Car2Car interface to the other traffic units and to receive ratings on planned trajectories of other traffic units, and by the scheduler to select an optimal combination of the planned trajectories for the at least two vehicles based on the ratings and a selection criteria and to cause execution of the optimal combination of scheduled trajectories by outputting a corresponding signal, wherein the request is at least one destination of the request, an area an interaction and the rating scale, the characteristics include at least performance data and a unique identifier of each of the transmitting motor vehicle.

The core idea of the invention is that all traffic units mutually evaluate their planned trajectories. In this way, the trajectories planned by the individual traffic units can each be evaluated from the perspective of each traffic unit, so that individual criteria of each individual traffic unit are taken into account.

In a preferred embodiment, it is provided that each of the traffic units is assigned a voice weight, the voice weight determining how much the evaluation of a planned trajectory made by one of the traffic units is weighted in selecting the optimum combination, and wherein the selection criterion is the Voice weights of traffic units. The voice weights of the individual traffic units can be the same or different. They can also be different for different traffic situations. Not only does this solve the problem of finding an optimal combination of planned trajectories, but each traffic unit is given a say, which is taken into account when selecting an optimal combination of planned trajectories. This leads to an optimal, more flexible and fair coordination process between individual traffic units. This causes an adapted behavior of the individual traffic units, which in turn improves the overall traffic flow.

In one embodiment, it is provided that one of the at least two motor vehicles has a higher voice weight. This is advantageous if, for example, it is a special-purpose vehicle which enjoys franchises in road traffic on the basis of the Highway Code (StVO).

In one embodiment, it is provided that a triggering criterion is an imminent collision between the at least two motor vehicles. For example, current trajectories of the at least two motor vehicles predicted by the forecasting device and analyzed for possible collisions in the future. If a collision is to be expected while maintaining the current trajectories, the invention reacts. A possible collision can be estimated or evaluated, for example, in the case of motor vehicles moving toward one another over a time until the collision. For this purpose, a current distance of the two motor vehicles is divided by their relative speed to each other. Avoiding collisions increases the safety of all road users.

In a further embodiment, it is provided that the traffic unit is one of the at least two motor vehicles or an infrastructure facility. The method can thus be carried out both in a motor vehicle involved in a current traffic situation and in an infrastructure facility. Such an infrastructure facility is, for example, a traffic control system, a traffic light system or other device which serves to detect or regulate the traffic. The process is therefore flexible and decentralized. The procedure can also be carried out in all traffic units in the environment.

In a further embodiment, it is provided that the voice weight comprises a veto right, wherein a veto-evaluated planned trajectory is not performed in each case. This gives the traffic units the ability to completely discard planned trajectories that are unfavorable or, in their view, impossible by preventing their execution. This can be the case, for example, if a planned trajectory is assessed differently by different traffic units, but is considered by a traffic unit to be too dangerous or technically impossible. The veto right then allows this traffic unit to prevent the planned trajectory in any case.

In a further embodiment it is provided that the infrastructure device has a higher voice weight than the at least two motor vehicles. This is advantageous if the infrastructure device can better survey a traffic situation, for example because it has more sensors for detecting the surroundings or a geographical position which is more suitable for detecting the surroundings. Also, access to further information, for example as part of a traffic control system, may be motivation for a higher voice weight.

In one embodiment, it is further provided that only the infrastructure device in each case plans at least one trajectory for the at least two motor vehicles. This is advantageous if the traffic situation is very complex and can only be mastered (surveyed) by a central authority or if a parent objective unknown to the at least two motor vehicles is to be tracked, for example if motor vehicles apply equally to a changed road guidance or to several traffic lanes a toll station to be distributed. An overriding goal can also be, for example, a particularly efficiently designed traffic flow.

In a further embodiment, it is provided that only one of the at least two motor vehicles each plans at least one trajectory for the at least two motor vehicles. This is advantageous, for example, if a traffic flow has to be regulated centrally for a short time, for example if a special-purpose vehicle has to regulate the traffic at short notice and locally.

In one embodiment, it is provided that the at least two motor vehicles can or may not agree with the respectively transmitted at least one planned trajectory, wherein the at least one planned trajectory is carried out depending on the approval result or not. This allows a right of veto, for example, if a planned and transmitted to a motor vehicle trajectory can be performed under any circumstances. If consent is denied, then a new trajectory is planned and transmitted by the infrastructure facility or the one motor vehicle.

The invention will be explained in more detail with reference to preferred embodiments with reference to the figures. Hereby show:

1 a schematic representation of an embodiment of a device according to the invention for the cooperative tuning of driving maneuvers of at least two vehicles;

2 a schematic flow diagram of the method;

3 a schematic representation of a traffic situation comprising three motor vehicles for explaining an initial situation when tuning driving maneuvers;

4a a schematic representation of a possible combinations of planned trajectories for the three motor vehicles to solve the in 3 shown traffic situation;

4b a schematic representation of another possible combinations of planned trajectories for the three motor vehicles to solve the in 3 shown traffic situation;

4c a schematic representation of another possible combinations of planned trajectories for the three motor vehicles to solve the in 3 shown traffic situation.

In 1 is a schematic representation of an embodiment of a device according to the invention 1 shown for the cooperative tuning of driving maneuvers of at least two vehicles. The device 1 is here in a motor vehicle 50 educated. The device 1 includes a sensor 2 , a controller 3 and a Car2Car interface 4 which is based, for example, on the ITS G5 standard of the European Telecommunications Standards Institute. The control 3 includes a forecasting device 5 , a planning facility 6 and an evaluation device 7 ,

It is now assumed that in the environment of the motor vehicle 50 a second motor vehicle is located. The sensor 2 detects a traffic situation in the environment of the motor vehicle 50 , Based on the from the sensor 2 captured environment data predicts the forecasting facility 5 a future traffic situation, for example, by current trajectories of the motor vehicle 50 and the second motor vehicle are extrapolated into the future. The forecasting device 5 checks on the basis of the predicted future traffic situation, if at least one triggering criterion 20 is present. A triggering criterion 20 Here is an imminent collision of the motor vehicle 50 with the second motor vehicle. If a collision is to be expected, this is the triggering criterion 20 met and the planning facility 6 sends a request 21 to the second motor vehicle via the Car2Car interface 4 , The request 21 contains as target 22 a collision avoidance, an area 23 the interaction, such as the current environment and a future environment of the two vehicles and whether an interaction should take place longitudinally or laterally, and a rating scale 24 which, for example, a range and a unit of the rating scale 24 Are defined.

In addition and / or upon receipt, a request from another traffic unit is transmitted by the planning device 6 properties 25 of the motor vehicle 50 , The properties 25 include, for example, performance data 27 of the motor vehicle 50 For example, a maximum acceleration, and a unique identifier 28 of the motor vehicle 50 , The maximum acceleration may be, for example, models for a drive train, a brake and a transverse guide in consideration of an engine map, a mass, a transmission, dead times, a material pairing and pressure generation of the brake of the motor vehicle 50 from the planning institution 6 be calculated. At the same time, the planning organization receives 6 via the Car2Car interface 4 properties 26 of the second motor vehicle.

Based on the from the sensor 2 recorded environment data and the properties 25 . 26 the two motor vehicles planning the planning facility 6 trajectories 30 for the motor vehicle 50 and the second motor vehicle. The planned trajectories 30 For example, driving maneuvers and paths include a respective unique identifier 28 the motor vehicles and a starting time for the planned trajectories 30 , The planned trajectories 30 transmits the planning device 6 via the Car2Car interface 4 to the second motor vehicle. At the same time, the planning organization receives 6 planned trajectories 31 of the second motor vehicle via the Car2Car interface 4 ,

The planned trajectories 30 . 31 are subsequently submitted by the evaluation facility 7 according to the rating scale 24 rated. Resulting ratings 32 are then transmitted to the second motor vehicle, which in turn reviews 33 the trajectories 30 . 31 to the motor vehicle 50 transmitted.

Based on all reviews 32 . 33 and a given selection criterion 15 chooses the planning device 6 an optimal combination of planned trajectories 30 . 31 out. The selection criterion 15 is for example the highest sum of the individual evaluations of planned trajectories 30 . 31 , In the selection criterion 15 go the voice weight 40 of the first motor vehicle 50 and a voting weight 41 of the second motor vehicle with a. The voice weights 40 . 41 were previously, for example, along with the reviews 32 . 33 , ask.

The optimal combination of planned trajectories 30 . 31 is then carried out. This is given by the controller 3 for example, a signal 11 via an interface 10 out, with the signal 11 an actuary 9 of the motor vehicle 50 causes the for the motor vehicle 50 planned planned trajectory of the optimal combination.

Should there be problems in choosing the optimal combination, for example because of multiple combinations of planned trajectories 30 . 31 can be evaluated as equal to optimal, it can be decided according to another criterion, which of the optimal combinations is performed. Here, for example, the identifiers of motor vehicles can be used to make a decision. For this purpose, for example, it is generally agreed that a combination of planned trajectories 30 . 31 is performed, which of the motor vehicle with the lowest identifier 28 was planned. In principle, however, it is also possible to decide according to another criterion.

2 shows a schematic flow diagram of the method in a traffic unit for cooperative tuning of driving maneuvers of at least two vehicles. In a first process step 101 the environment of the at least two vehicles is detected by at least one sensor. In the next process step 102 is checked on the basis of a predicted future traffic situation, if at least one triggering criterion is fulfilled. If the triggering criterion is not fulfilled, then the first method step 101 repeated. If the trigger criterion is fulfilled, the next step is 103 sent after sending a request, the properties of at least two vehicles. On the basis of environmental data acquired by the at least one sensor and the properties of the at least two motor vehicles, the following process step then takes place 104 Trajectories planned for the at least two motor vehicles. All planned trajectories are taken by each traffic unit in the subsequent procedural step 105 assessed on the basis of a common rating scale. The evaluations of the planned trajectories are transmitted to the other traffic units. After evaluating the planned trajectories, an optimal combination of planned trajectories is selected 106 wherein each of the traffic units is assigned a vote and the selection of the optimal combination of scheduled trajectories is based on the ratings and a selection criterion. The selection criterion includes the voting rights of the traffic units. In the last procedural step 107 the planned trajectories of the optimal combination are carried out by the at least two motor vehicles. Subsequently, the process is repeated. The method can be carried out both in an infrastructure facility as well as in the motor vehicles themselves.

3 shows a schematic representation of a traffic situation 60 , which as traffic units 55 three motor vehicles 50 . 51 . 52 and an infrastructure facility 54 includes. The traffic situation 60 shows a starting situation for explaining the inventive method for tuning driving maneuvers of motor vehicles 50 . 51 . 52 , Being at the traffic situation 60 nothing changed, so there is a collision 14 between two vehicles 50 . 51 imminent.

In the context of the method according to the invention, for example, three possible combinations 70 . 71 . 72 planned on trajectories. The three combinations 70 . 71 . 72 are schematic in the 4a to 4c shown. Each of the combinations 70 . 71 . 72 contains planned trajectories 30 for each of the motor vehicles 50 . 51 . 52 , Are the combinations 70 . 71 . 72 planned, they will be sent to all traffic units 55 sent in the environment. The traffic units 55 then rate each of the combinations 70 . 71 . 72 on a valuation scale previously agreed in the procedure and in turn return the assessments. For example, the traffic units 55 then get the following ratings:

From the motor vehicles 50 . 51 . 52 can with respect to the combinations 70 . 71 . 72 also be vetoed. A vetoed combination of planned trajectories 30 will not be performed in any case. For example, here is the 3rd combination 72 from the motor vehicle 52 been vetoed. The planned trajectories 30 the 3rd combination 72 are therefore not carried out in any case.

To one of the combinations 70 . 71 . 72 a selection criterion is used. The selection criterion can be, for example, a sum of the ratings of the individual traffic units 55 be. Then the result is the following:

For example, if the rating scale describes the cost, the second combination would be the best because the cost would be the lowest there. On the other hand, if the rating scale describes a benefit, the first combination would be optimal. The 3rd combination 72 is invalid in any case as there is a veto. If the voting right of a traffic unit is increased, shown here for example as the doubled voice weight of the infrastructure unit 54 , this results in a different result. For example, if the rating scale is useful again, the first combination would be optimal.

Should be for at least two combinations 70 . 71 . 72 result in an equal sum of the ratings, so between these at least two combinations 70 . 71 . 72 be selected according to another criterion. Such a further criterion may for example be a unique identifier of the motor vehicles and / or traffic units, in which case, for example, the combination 70 . 71 . 72 is performed by the motor vehicle 50 . 51 . 52 or the traffic unit with the smallest or largest identifier has been proposed if the identifier consists of a unique sequence of ordinal numbers.

LIST OF REFERENCE NUMBERS

1

contraption

2

sensor

3

control

4

Car2Car interface

5

forecasting device

6

planning device

7

evaluator

9

actuators

10

interface

11

signal

14

collision

15

selection criterion

20

trigger criterion

21

inquiry

22

Purpose of the request

23

Area of interaction

24

rating scale

25

Properties of the motor vehicle

26

Properties of the second motor vehicle

27

Performance data

28

Identification of the motor vehicle

30

planned trajectories of the motor vehicle

31

planned trajectories of the second motor vehicle

32

Reviews of the motor vehicle

33

Reviews of the second motor vehicle

40

Voice weight of the motor vehicle

41

Voice weight of the second motor vehicle

50

motor vehicle

51

motor vehicle

52

motor vehicle

53

motor vehicle

54

infrastructure facility

55

traffic unit

60

traffic situation

70

combination

71

combination

72

combination

101-107

steps

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102012011994 A1 [0003]
• EP 2164059 A1 [0004]

Claims (10)

Procedure in a traffic unit ( 55 ) for the cooperative tuning of driving maneuvers of at least two motor vehicles ( 50 . 51 . 52 ), whereby the at least two motor vehicles ( 50 . 51 . 52 ) Traffic units ( 55 ) and the traffic units ( 55 ) via a Car2Car interface ( 4 ), comprising the following steps: detecting a traffic situation ( 60 ) in the vicinity of the at least two motor vehicles ( 50 . 51 . 52 ) by at least one sensor ( 2 ), Predicting a future traffic situation of the at least two motor vehicles ( 50 . 51 . 52 ) based on the at least one sensor ( 2 ) recorded environment data by a forecasting device ( 5 ), Checking on the basis of the future traffic situation, whether at least one triggering criterion ( 20 ) is provided by the forecasting device ( 5 ), and if a triggering criterion ( 20 ): sending a request ( 21 ) to other traffic units ( 55 ) in the environment by a planning device ( 6 ), and if the traffic unit ( 55 ) one of the at least two motor vehicles ( 50 . 51 . 52 ) is: transmission of properties ( 25 ) of the motor vehicle ( 50 ) after receiving the request ( 21 ); further receiving properties ( 26 ) of other motor vehicles ( 51 . 52 ) by the planning device ( 6 ), Planning trajectories ( 30 ) for the at least two motor vehicles ( 50 . 51 . 52 ) in the planning device ( 6 ), where the planning of the trajectories ( 30 ) based on the at least one sensor ( 2 ) and environmental characteristics ( 25 . 26 ) of at least two motor vehicles ( 50 . 51 . 52 ), transmitting the planned trajectories ( 30 ) to the other traffic units ( 55 ) in the environment, receiving planned trajectories ( 31 ) from the other traffic units ( 55 ) in the environment, evaluating the planned trajectories ( 30 . 31 ) by an evaluation facility ( 7 ) based on a rating scale ( 24 ), Submit the evaluations ( 32 ) for the planned trajectories ( 30 . 31 ) to the other traffic units ( 55 ), Receiving ratings ( 33 ) for the planned trajectories ( 30 . 31 ) from the other traffic units ( 55 ), Choosing an optimal combination ( 70 . 71 . 72 ) from planned trajectories ( 30 . 31 ) for the at least two motor vehicles ( 50 . 51 . 52 ) by the planning device ( 6 ) based on all ratings ( 32 . 33 ) and a given selection criterion ( 15 ), Performing the optimal combination ( 70 . 71 . 72 ) from planned trajectories ( 30 . 31 ) by the at least two motor vehicles ( 50 . 51 . 52 ), characterized in that the request ( 21 ) at least one objective ( 22 ) of the request, an area ( 23 ) of an interaction and the rating scale ( 24 ), and the properties ( 25 . 26 ) at least performance data ( 27 ) and a unique identifier ( 28 ) of the respectively transmitting motor vehicle ( 50 . 51 . 52 ). Method according to claim 1, characterized in that each of the traffic units ( 55 ) a voting weight ( 40 . 41 ), the voice weight ( 40 . 41 ) determines how strong the rating ( 32 . 33 ) planned trajectories ( 30 . 31 ) of one of the traffic units ( 55 ) when selecting the optimal combination ( 70 . 71 . 72 ), and where the selection criterion ( 15 ) the voting weights ( 40 . 41 ) of the traffic units ( 55 ). Method according to claim 1 or 2, characterized in that a triggering criterion ( 20 ) an imminent collision ( 14 ) between the at least two motor vehicles ( 50 . 51 . 52 ). Method according to one of claims 1 to 3, characterized in that the traffic unit ( 55 ) one of the at least two motor vehicles ( 50 . 51 . 52 ) and / or an infrastructure facility ( 54 ). Method according to one of the preceding claims, characterized in that the voice weight ( 40 . 41 ) comprises a veto right, whereby a veto-evaluated planned trajectory ( 30 . 31 ) is not carried out in any case. Method according to one of claims 4 or 5, characterized in that the infrastructure ( 54 ) a higher voice weight ( 40 . 41 ) than the at least two motor vehicles ( 50 . 51 . 52 ). A method according to claim 4 to 6, characterized in that only the infrastructure ( 54 ) at least one trajectory ( 30 . 31 ) for the at least two motor vehicles ( 50 . 51 . 52 ) plans. Method according to Claims 1 to 6, characterized in that only one of the at least two motor vehicles ( 50 . 51 . 52 ) at least one trajectory ( 30 . 31 ) for the at least two motor vehicles ( 50 . 51 . 52 ) plans. Method according to claim 7 or 8, characterized in that the at least two motor vehicles ( 50 . 51 . 52 ) of the respectively transmitted at least one planned trajectory ( 30 . 31 ) or not, wherein the at least one planned trajectory ( 30 . 31 ) is performed depending on the approval result or not. Contraption ( 1 ) in a traffic unit ( 55 ) for the cooperative tuning of driving maneuvers of at least two motor vehicles ( 50 . 51 . 52 ), comprising: at least one sensor ( 2 ) for detecting an environment of the at least two motor vehicles ( 50 . 51 . 52 ), a Car2Car interface ( 4 ) and a controller ( 3 ), whereby the controller ( 3 ) a forecasting device ( 5 ) for predicting a future traffic situation of the at least two motor vehicles ( 50 . 51 . 52 ) based on the at least one sensor ( 2 ) and for checking a triggering criterion ( 20 ), a planning device ( 6 ) for planning trajectories ( 30 . 31 ) for the at least two motor vehicles ( 50 . 51 . 52 ) and an evaluation facility ( 7 ) for evaluating the planned trajectories ( 30 . 31 ); and where the controller ( 3 ) is designed such that a triggering criterion ( 20 ) is met by the planning organization ( 6 ) via the Car2Car interface ( 4 ) a request ( 21 ) to other traffic units ( 55 ) in the environment and, if the traffic unit ( 55 ) one of the at least two motor vehicles ( 50 . 51 . 52 ) is: after receiving a request ( 21 ) of another traffic unit ( 55 ) by the planning device ( 6 ) Properties ( 25 ) of the motor vehicle ( 50 ) to transmit; by the planning organization ( 6 ) Properties ( 26 ) of other motor vehicles ( 51 . 52 ) and trajectories ( 30 ) for the at least two motor vehicles ( 50 . 51 . 52 ) in the planning device ( 6 ), whereby the planning of trajectories ( 30 ) based on the at least one sensor ( 2 ) and environmental characteristics ( 25 . 26 ) of at least two motor vehicles ( 50 . 51 . 52 ), then through the planning facility ( 6 ) the planned trajectories ( 30 . 31 ) via the Car2Car interface ( 4 ) to the other traffic units ( 55 ) and by the planning organization ( 6 ) planned trajectories ( 30 . 31 ) of the other traffic units ( 55 ) via the Car2Car interface ( 4 ), the planned trajectories ( 30 . 31 ) by the evaluation facility ( 7 ) based on a rating scale ( 24 ) and then the ratings ( 32 ) for the planned trajectories ( 30 ) via the Car2Car interface ( 4 ) to the other traffic units ( 55 ) and ratings ( 33 ) to planned trajectories ( 31 ) other traffic units ( 55 ) and by the planning device ( 6 ) an optimal combination ( 70 . 71 . 72 ) from the planned trajectories ( 30 . 31 ) for the at least two motor vehicles ( 50 . 51 . 52 ) based on the reviews ( 32 . 33 ) and a selection criterion ( 15 ) and carrying out the optimal combination ( 70 . 71 . 72 ) from planned trajectories ( 30 . 31 ) by issuing an appropriate signal, characterized in that the request ( 21 ) at least one objective ( 22 ) of the request, an area ( 23 ) of an interaction and the rating scale ( 24 ), the properties ( 25 . 26 ) at least performance data ( 27 ) and a unique identifier ( 28 ) each of the transmitting motor vehicle ( 50 . 51 . 52 ).

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