DE102018002609A1 - Method and device for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle - Google Patents

Abstract

The invention relates to a method and a device for coordinating driving maneuvers between a vehicle (A) and at least one Alius vehicle (B, C, D), comprising the following steps: determining (50) a planned driving path of one of the vehicle (A), Determining environmental information of the vehicle (A) by means of environmental sensors of the vehicle (52), determining an ideal trajectory (40A) along the travel path on the basis of the driving path and the surrounding information, determining a delay trajectory (42A) along the driving path (60) wherein the delay trajectory (42A) has the same travel path and a shorter length than the ideal trajectory (40A), transmitting the ideal trajectory (40A) and the delay trajectory (42A) to the ali vehicles (62) Receiving (64) the ideal trajectory (40B, 40C, 40D) and the delay trajectory (42B, 42C, 42D) of the Alii vehicles (B, C, D), determining if there is a conflict situation when the Vehicle (A) and the A 68 (68), when determining (68) a conflict situation, determining a conflict-free default trajectory set for all vehicles (A, B, C, D) according to their ideal trajectories (40A, 40B, 40C, 40D) B, C, D) selected on the basis of a rule set identical for all vehicles (A, B, C, D) for each vehicle (A, B, C, D) from the ideal trajectory or the delay trajectory (40, 42), moving the vehicle (A) along the default trajectory (70) therefor.

Description

The invention relates to a method and a device for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle.

In the course of increasing automation of automotive control, cooperative maneuvering of adjacent vehicles is desirable so that one's own vehicle must not only respond to the movements of other vehicles sensed by environmental sensors, but rather to communicate data to neighboring vehicles using communications systems. V2V or V2X ) and, on the basis of their respectively predefined planned travel paths, jointly carry out a coordination of the short-term movements or trajectories in a time horizon of a few seconds and then depart the trajectories determined in this way.

From the DE 10 2012 021 282 A1 For example, such a method is known in which neighboring motor vehicles send desired trajectories to an arbitration device and this determines whether a conflict exists and if so, at least one of the trajectories of the vehicles involved is adjusted. The arbitration device can be a central device or else a component of one of the participating vehicles.

From the WO 2017/076593 A1 A similar method is known in which each vehicle provides two trajectories and exchanges with neighboring vehicles. These are on the one hand a plant trajectory, which describes a planned driving maneuver, and a desired trajectory, which would be preferable to the plant trajectory and driving dynamics possible but for various possible reasons can not be traversed, especially because of a collision with another vehicle. The received are compared with their own trajectories and in the event of a conflict, an adjustment is made via a cost function taking into account the vehicles involved.

The object of the invention is to provide a method for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle, which is characterized by a low voting and thus computational effort and makes the vote regardless of cost considerations.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.

• - Ermitteln eines geplanten Fahrpfades eines Fahrzeugs,
• - Ermitteln von Umgebungsinformationen des Fahrzeugs auf der Grundlage von Umgebungssensoren des Fahrzeugs,
• - Bestimmen einer Ideal-Trajektorie für einen vorgegebenen Zeit- oder Wegbereich entlang des Fahrpfades auf der Grundlage des Fahrpfades und der Umgebungsinformationen,
• - Bestimmen einer Zöger-Trajektorie entlang des gleichen Fahrpfades, wobei die Zöger-Trajektorie gegenüber der Ideal-Trajektorie den gleichen Fahrpfad und eine geringere Länge aufgrund einer zeitlichen Verzögerung durch verminderte Fahrgeschwindigkeit aufweist,
• - Übermitteln der Ideal-Trajektorie und der Zöger-Trajektorie an die Alii-Fahrzeuge,
• - Empfangen der Ideal-Trajektorie und der Zöger-Trajektorie der Alii-Fahrzeuge,
• - Ermitteln, ob eine Konfliktsituation vorliegt, wenn sich das Fahrzeug und die Alii-Fahrzeuge gemäß ihrer Ideal-Trajektorien bewegen,
• - bei Feststellung einer Konfliktsituation Bestimmen eines konfliktfreien Vorgabe-Trajektorien-Satzes für alle Fahrzeuge, die auf der Grundlage eines für alle Fahrzeuge identischen Regelsatzes für jedes Fahrzeug ausgewählt wird aus der Ideal-Trajektorie oder der Zöger-Trajektorie,
• - Bewegen des Fahrzeugs entlang der dafür bestimmten Vorgabe-Trajektorie.

According to the invention, a method for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle is proposed with the following steps:

• Determining a planned driving path of a vehicle,
• Determining environmental information of the vehicle based on environmental sensors of the vehicle,
• Determining an ideal trajectory for a given time or distance range along the travel path on the basis of the driving path and the surrounding information,
• Determining a delay trajectory along the same travel path, the lag trajectory having the same travel path and a shorter length than the ideal trajectory due to a time delay due to reduced vehicle speed,
• Transmitting the ideal trajectory and the delay trajectory to the ali vehicles,
• Receiving the ideal trajectory and the delay trajectory of the Alii vehicles,
• Determining whether there is a conflict situation when the vehicle and the Alii vehicles are moving according to their ideal trajectories,
• in the event of a conflict situation, determining a conflict-free default trajectory set for all vehicles which is selected on the basis of a rule set identical for all vehicles for each vehicle from the ideal trajectory or the delay trajectory,
• - Moving the vehicle along the designated default trajectory.

In the context of this invention, a trajectory is understood to mean a route with a time or speed assignment over a period of a few seconds. This period may also be speed-dependent, especially at higher speeds than at lower speeds, preferably in the range of 3 to 8 seconds. The trajectory also takes into account the dimensions of the vehicle, since a check for collisions between the trajectories of different vehicles must also take into account the width and length of the vehicles with a safe lateral distance of a few decimeters. Finally, the vehicle measurement required for collision freedom must be at a safe distance to the front.

The basic idea of the invention is instead of the two in the WO 2017/076593 A1 proposed to be trajectories typical of the route to provide two trajectories and exchange with neighboring vehicles that differ only by the speed, but not with respect to the way. The Zöger trajectory has compared to the ideal trajectory on the same driving path and the same period and describes a deceleration process to a reduced vehicle speed, whereby the length of the Zöger trajectory shorter by several vehicle lengths than that of the ideal trajectory.

The invention is based on the consideration that for safety reasons, the speed should be lower, which also corresponds to the manual handling. The Zöger trajectory should avoid collisions. Collisions occur when vehicles touch each other in their silhouette plus a safety frame. The safety frame is speed-dependent in the direction of travel.

The determination of the Zöger trajectory can be done in various ways. For example, a speed reduction of 10-20% or a defined deceleration may be used, or a desired path shortening of the delay trajectory with respect to the ideal trajectory by a predetermined distance or number of vehicle lengths. A calculation rule for determining the delay trajectory can be constant or a function of the speed, for example at 100 km / h a speed reduction of 5%, at 50 km / h of 10% within the trajectory period. The period of the ideal and delay trajectory is about 2 to 10 seconds, preferably 4 to 6 seconds.

In any case, the delay should be selected so that the delay trajectory is shorter by at least the length of the safety margin at the same time. Alternatively, the safety distance can be determined on the basis of the Highway Code, ie outside closed villages "half speedometer" and within closed towns three car lengths.

All vehicles (ie the ego vehicle and all Alii vehicles) in a voting situation rate (each for themselves) the received crowd of ideal and hesitant trajectories and determine a conflict-free set of trajectories which is then driven by the vehicles, i. Each vehicle drives for itself the so-defined default trajectory.

The determination of the conflict-free default trajectory set is made on the basis of a rule set identical for all vehicles by numerical analysis of the trajectory of all vehicles taking into account the predetermined rules.

The movements of the Alii vehicles detected by the vehicle sensors and communication systems are used to recognize / confirm the trajectories traveled. The other vehicles are tracked via a temporary vehicle identification (vehicle ID). If the detected movements are confirmed according to the expected conflict-free trajectory rate, the transmission of the trajectory pairs can be adjusted.

The solution according to the invention is based on only one path and is therefore less computationally intensive, due in part to the numerical analysis in the coordination process. Compared with conventional systems, this results in a reduced computational effort, which leads to a faster provision of the default trajectory set with a larger number of considered vehicles and thus also to a shorter cycle time and the possibility to carry out the tuning of the vehicles more frequently. This in turn leads to increased traffic safety, especially as the vehicles arrive in doubt by delay in a safer driving condition.

Clock rates of 10-100 Hz can be achieved. And in doubtful situations, the vehicles go into a safe driving condition. This solution is also compatible with other systems, for example the known systems described in the introduction to the description.

According to one embodiment of the invention, the voting process according to the invention between vehicles is only initiated if a conflict situation is detected by the vehicle sensor system, in particular that other vehicles in the environment (position) and their direction of movement (heading) are detected in their own infrastructure, or traffic-relevant objects in current lane or road network nodes, such as intersections, in / out of any kind detected or extracted from electronic maps or a maneuver coordination message was received from the vehicle environment.

Alternatively, the transmission of trajectory pairs can also be permanent.

Each vehicle decides for itself whether it participates in a vote and expresses its decision by sending out the Trajectory pair. The decision is based on the geographical situation analysis and, as a first step, adopts all the vehicles for the voting that are in the road situation (in the example in access to an intersection). Final confirmation is provided by the Alii vehicles by sending their trajectory pairs and geographically belonging to the situation.

A preferred embodiment of the invention provides that the rule set comprises a rule, after which a default trajectory set is determined, which comprises the largest number of ideal trajectories. In other words, if there are multiple solutions of default trajectory sets, the one comprising the largest number of ideal trajectories is selected. This ensures the lowest possible impairment of braking maneuvers for all participating vehicles.

A preferred embodiment of the invention provides that the rule set comprises a rule, according to which a vehicle with a kinked ideal trajectory or a kinking within a predetermined time range driving path has a priority on the Zöger trajectory. This takes into account that a vehicle wishing to turn at a nearby branch or intersection is more likely to slow down anyway soon enough, and thus will not be affected by the selection of the delay trajectory as the default trajectory.

A preferred embodiment of the invention provides that for ali vehicles that emit only a trajectory due to interference, this is considered as the ideal trajectory of the Alius vehicle. As a result, the application of the method according to the invention is also possible if individual vehicles send only a trajectory due to any disturbances, be it in terms of transmission errors or system errors.

A preferred embodiment of the invention provides that the rule set comprises a rule that, if no conflict-free default Trajektoriensatz is determined, a vehicle is determined, which slows down for a predetermined short period of time and then the process is run through again. Since it can not be ruled out that no conflict-free solution can be achieved when selecting the two trajectories available per vehicle, ie a "deadlock" condition occurs, a solution must be found for this situation. For this purpose, according to this embodiment, a vehicle is selected, e.g. the slowest or fastest, or non-ready or soon turning, which is brought to deceleration in isolation, and then, in a new pass, on the basis of the resulting state with new trajectories, the determination of a non-conflicting default trajectory set is attempted.

A preferred embodiment of the invention provides that information from a stored road map and / or information received via communication means are taken into account for determining the ideal trajectory of the vehicle.

A preferred embodiment of the invention provides that the vehicle checks whether a voting situation exists with at least one Alius vehicle and it does not participate in a voting process if its trajectories are conflict-free. This ensures that a vehicle that is in close proximity with Alii vehicles but whose trajectories does not conflict with the trajectories of other vehicles does not participate in a voting process of determining a conflict-free default trajectory set.

• - eine Fahrsituationsanalyseeinrichtung zum Ermitteln eines geplanten Fahrpfades des Fahrzeugs sowie zum Ermitteln von Umgebungsinformationen des Fahrzeugs auf der Grundlage von Umgebungssensoren des Kraftfahrzeugs,
• - eine Trajektorienbestimmungseinrichtung zum Bestimmen einer Ideal-Trajektorie für einen vorgegebenen Zeit- oder Wegbereich entlang des Fahrpfades auf der Grundlage des Fahrpfades und der Umgebungsinformationen, ferner zum Bestimmen einer Zöger-Trajektorie entlang des gleichen Fahrpfades, wobei die Zöger-Trajektorie gegenüber der Ideal-Trajektorie den gleichen Fahrpfad und eine geringere Länge aufgrund einer zeitlichen Verzögerung durch verminderte Fahrgeschwindigkeit aufweist,
• - eine Kommunikationseinrichtung zur Kommunikation mit anderen Fahrzeugen in der Umgebung (Alii-Fahrzeuge), die ausgebildet ist zum Übermitteln der Ideal-Trajektorie und der Zöger-Trajektorie an die Alii-Fahrzeuge sowie zum Empfangen der Ideal-Trajektorie und der Zöger-Trajektorie der Alii-Fahrzeuge,

• - eine Trajektorienbewertungseinrichtung, die ausgebildet ist zu ermitteln, ob eine Konfliktsituation vorliegt, wenn sich das Fahrzeug und die Alii-Fahrzeuge gemäß ihrer Ideal-Trajektorien bewegen und ausgebildet ist, bei Feststellung einer Konfliktsituation zur Bestimmung eines konfliktfreien Vorgabe-Trajektorien-Satzes für alle Fahrzeuge, die auf der Grundlage eines für alle Fahrzeuge identischen Regelsatzes für jedes Fahrzeug ausgewählt wird aus der Ideal-Trajektorie oder der Zöger-Trajektorie,
• - eine Signalausgabeeinrichtung, welche an eine anschließbare Fahrzeugkontrolleinrichtung die für das Fahrzeug ermittelte Vorgabe-Trajektorie zu deren Abfahren ausgibt beziehungsweise dem Fahrzeugführer direkte Fahranweisungen ausgibt.

The object on which the invention is based is furthermore achieved by a device for a motor vehicle for coordination of driving maneuvers between a vehicle and at least one Alius vehicle, comprising:

• a driving situation analysis device for determining a planned driving path of the vehicle and for determining environmental information of the vehicle on the basis of environmental sensors of the motor vehicle,
• a trajectory determining means for determining an ideal trajectory for a given time or path area along the driving path on the basis of the driving path and the surrounding information, further for determining a delay trajectory along the same driving path, the lag trajectory opposite to the ideal trajectory has the same driving path and a shorter length due to a time delay due to reduced driving speed,
• a communication device for communicating with other vehicles in the environment (Alii vehicles) adapted to transmit the ideal trajectory and the delay trajectory to the Alii vehicles as well as to receive the ideal trajectory and the delay trajectory of the Alii -Vehicles,

• a trajectory evaluation device, which is designed to determine whether there is a conflict situation when the vehicle and the ali vehicles are moving and configured according to their ideal trajectories, when a conflict situation is established for determining a conflict-free default trajectory sentence for all vehicles selected on the basis of a rule set identical for all vehicles for each vehicle, from the ideal trajectory or the delay trajectory,
• a signal output device which outputs to a connectable vehicle control device the default trajectory determined for the vehicle for driving off the vehicle or outputs direct driving instructions to the vehicle driver.

Further advantages, features and details will become apparent from the following description, in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. The same, similar and / or functionally identical parts are provided with the same reference numerals.

• 1: ein Blockdiagramm der logischen Module der erfindungsgemäßen Vorrichtung;
• 2: ein Ablaufdiagramm des erfindungsgemäßen Verfahrens;
• 3. ein Ablaufdiagramm eines Teils des Verfahrens von 2;
• 4: eine schematische Darstellung eines Trajektorienpaares;
• 5: ein Anwendungsbeispiel einer Verkehrssituation an einer Kreuzung.

Show it:

• 1 : a block diagram of the logic modules of the device according to the invention;
• 2 a flowchart of the method according to the invention;
• 3 , a flowchart of a part of the method of 2 ;
• 4 : a schematic representation of a trajectory pair;
• 5 : an application example of a traffic situation at an intersection.

In 1 are the logical modules of the tuning device according to the invention 10 shown. This includes a Umfeldeinheit 12 that with an electronic road map 14 , a communication unit 16 for communication with other vehicles ( V2V ) or inpatient care ( V2X ), as well as a set of vehicle-mounted environmental sensors 18 communicated. To the environmental sensors 18 may include laser scanners, radars, cameras and ultrasonic gauges.

Furthermore, the tuning device comprises 10 a driving situation analysis unit 20 whose function is in 2 is explained in more detail. The driving situation analysis unit 20 controls a trajectory generation unit 22 which determines an ideal trajectory and a delay trajectory for the vehicle. The generated trajectories become a trajectory evaluation unit 24 together with the means of the communication unit 16 over the Umfeldeinheit 12 delivered trajectory pairs of Alii vehicles. That of the trajectory generation unit 22 generated trajectory pair is also the Umfeldeinheit 12 fed to this via the communication unit 16 transmitted to Alii vehicles.

The trajectory assessment unit 24 evaluates the trajectory pairs of the ego vehicle as well as the alii vehicles and generates a collision-free default trajectory set for each vehicle and outputs to a vehicle control unit 30 the default trajectory of your own vehicle, which is then traversed autonomously by the vehicle.

Alternatively, in vehicles with lower degrees of automation, a driver instruction can also be given via a suitable man-machine interface, for example an acoustic or visual output device or else a haptic accelerator pedal.

A monitoring unit 26 detects movements of Alii vehicles due to received vehicle movement information and own observations by means of environmental sensors 18 and evaluate these.

According to 2 is in the driving situation analysis unit 20 first in one step 50 a driving path of the own vehicle (ego vehicle) determined. Depending on the HAF equipment level (HAF = skin-automatic driving, level 2 to 5 ) determines a strategic (navigational) path or lane based on the environment observation and movement history.

In step 52 the vehicle environment is checked on the basis of the vehicle's own sensors 18 as well as via the communication unit 16 received information about Alii vehicles from the area.

In step 54 Determines whether there is a need for coordination between the ego vehicle and the Alii vehicles, based on Alii vehicle data, obstacle data, road nodes and received maneuvering messages.

If it is determined that there is no need for a vote, it becomes the step 52 decreased to re-examine the need for reconciliation, taking into account updated environmental data.

Will, however, in the step 54 on the part of the ego vehicle determines a need for coordination, so takes place in the maneuver decision unit 28 the determination of a maneuver decision and confirmation by sending in accordance with 3 ,

According to 3 be in one step 60 an ideal trajectory 40 and a hesitant trajectory 42 determined in accordance with the current speed, the in 4 are shown. It is also an ego priority determined from, for example at a preceding kinking track the priority to the Zöger trajectory 42 can lay.

In step 62 becomes the trajectory pair 40 . 42 of the ego vehicle by means of the communication unit 16 sent to Alii vehicles in the area, confirming the involvement of the ego vehicle in the vote. It can be seen from the spatial position of the trajectory whether or on which voting scenario (which group) the ego vehicle will take part. It can be seen from the spatial position of the trajectory whether or on which voting scenario (which group) the ego vehicle will take part.

In step 64 become the respective Trajektorienpaare of Alii vehicles by means of the communication unit 16 receive.

In step 66 become the trajectory pairs 40 . 42 of the ego vehicle and the Alii vehicles to a trajectory crowd merged. The trajectory pairs are assigned to the individual Alii vehicles according to the anonymized vehicle IDs. The trajectory crowd defines all participants in this voting scenario by spatial context, in other words, only the trajectories that are tangent or spatially very close to it were included. So there is a geographical assignment of those involved in the scenario

In step 68 an attempt is made to determine a non-conflicting default trajectory set for all vehicles, with either the ideal trajectory or the delay trajectory being selected for each vehicle. The determination of a conflict-free default trajectory theorem is performed by numerical analysis of the set of trajectories under priority of the ideal trajectories 40 , The same rules apply to all vehicles and therefore the trajectory rate is identical for all vehicles involved.

If a conflict-free default trajectory set can be determined, then the vehicle will be in step 70 moved autonomously or by means of driving instructions according to the default trajectory determined for the ego vehicle. Since the Alii vehicles use the same rule set to determine the same trajectory set, each Alii vehicle can then drive off the default trajectory determined for the respective vehicle.

However, if no conflict-free default trajectory set can be determined, then in step 72 the low-priority ego vehicle and / or lowest actual speed of all vehicles of the voting situation is delayed and it becomes the step 60 a new set of trajectories 40 . 42 intended for the ego vehicle.

Coming back to 2 be in the surveillance unit 26 in step 80 the vehicle movements of the Alii vehicles received by V2X Co-operative Awareness Message and, if applicable, environmental sensors 18 detected.

In step 82 the actual trajectories of the Alii vehicles are assigned and observed. In this case, the received vehicle movement data are assigned via the vehicle ID to the respective conflict-free default trajectory.

In step 84 a comparison is made with the conflict-free default trajectory set. If compliance with the specified default trajectories is determined (J), the own maneuver (step 70 ) and the monitoring continues unchanged and thus to the step 80 returned. On the other hand, if a deviation is detected (N), the maneuver decision unit becomes 28 causes a new maneuver decision to be made, as in 3 was explained. When the default trajectory has been traversed ( e ), the maneuver is over (step 86 ).

In 5 an embodiment is shown, with a road junction 32 on the four vehicles A . B . C . D to drive. Another vehicle E is located in the carriageway intersection 32 , Since there is a need for coordination, a companion vehicle sends A and Alii vehicles B . C . D . e one ideal trajectory each 40A . 40B . 40C . 40D and a hesitant trajectory 42A . 42B . 42C . 42D to the other vehicles. It lies thereby in each vehicle A . B . C . D . e the illustrated trajectory crowd, in which the ideal trajectories 40A . 40B . 40C . 40D collide. A collision occurs when the vehicle outlines added in a complete trajectory view touch including the safety margin. For reasons of clarity, only the line of the trajectory reference point is shown here. Because the trajectories 40E , 42E of the vehicle E with none of the other trajectories 40A . 40B . 40C . 40D . 42A . 42B . 42C . 42D collides, picks up the vehicle e not participating in the subsequent process.

By in step 68 ( 3 numerical analysis taking into account a rule set results in a collision-free default trajectory set consisting of 40A (Ideal trajectory for the ego vehicle A ) 40B (Ideal trajectory for the Alius vehicle B ) 42C (Zöger trajectory for the Alius vehicle C ) and 42D (Zöger trajectory for the Alius vehicle D ). It should be noted that also a combination 42A . 40B . 42C . 42D So, with one ideal and three hesitant trajectories, collision-free would only contain an ideal trajectory.

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those of skill in the knowledge of the disclosed inventive concept may make various changes, for example as to the function or arrangement of individual elements recited in an exemplary embodiment, without Protection area defined by the claims and their legal equivalents, such as further explanations in the description.

LIST OF REFERENCE NUMBERS

10

tuner

12

environment unit

14

electronic road map

16

communication unit

18

environmental sensors

20

Driving situation analysis unit

22

Trajektoriengenerierungseinheit

24

Trajektorienbewertungseinheit

26

monitoring unit

28

Maneuvers decision unit

30

Vehicle control unit

32

road junction

40

Ideal trajectory

42

Zöger trajectory

50, 52, 54, 60, 62, 64, 66, 68, 70, 72, 80, 82, 84, 86

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 102012021282 A1 [0003]
• WO 2017/076593 A1 [0004, 0009]

Claims (12)

A method of tuning driving maneuvers between a vehicle (A) and at least one Alius vehicle (B, C, D), comprising the following steps Determining (50) a planned driving path of the vehicle (A), Determining environmental information of the vehicle (A) on the basis of environmental sensors of the vehicle (52), Determining an ideal trajectory (40A) for a given time or distance range (60) along the travel path based on the travel path and the surrounding information, Determining a delay trajectory (42A) along the same travel path (60), the lag trajectory (42A) having the same travel path and a shorter length due to a time delay due to reduced vehicle speed compared to the ideal trajectory (40A), Transmitting the ideal trajectory (40A) and the delay trajectory (42A) to the Alii vehicles (62), Receiving (64) the ideal trajectory (40B, 40C, 40D) and the delay trajectory (42B, 42C, 42D) of the Alii vehicles (B, C, D), Determining whether there is a conflict situation when the vehicle (A) and the Alii vehicles (B, C, D) move according to their ideal trajectories (40A, 40B, 40C, 40D) (68), upon determination (68) of a conflict situation, determining a non-conflicting default trajectory set for all vehicles (A, B, C, D) based on a set of rules identical for all vehicles (A, B, C, D) for each Vehicle (A, B, C, D) is selected from the ideal trajectory or the delay trajectory (40, 42), - Moving the vehicle (A) along the designated default trajectory (70). Method according to Claim 1 , characterized in that the rule set comprises a rule, after which a default trajectory set is determined which comprises the largest number of ideal trajectories. Method according to Claim 1 , characterized in that the rule set comprises a rule, according to which a vehicle having a kinked ideal trajectory or a kinking within a predetermined time travel path has a priority on the Zöger trajectory. Method according to Claim 1 , characterized in that the rule set comprises a rule whereby, if no conflict-free default trajectory set is determinable, a vehicle is determined which decelerates for a predetermined short period of time and then the process is run through again. Method according to Claim 4 , characterized in that as the braked vehicle that is determined which has the lowest travel speed. Method according to Claim 4 or 5 , characterized in that is determined as braked vehicle one which has a kinking ideal trajectory. Method according to one of the preceding claims, characterized in that for determining the ideal trajectory of the vehicle information vehicle-sensory environment perception are taken into account. Method according to one of the preceding claims, characterized in that for determining the ideal trajectory of the vehicle information from a stored road map and / or information received via communication means are taken into account. Method according to one of the preceding claims, characterized in that for ali vehicles which emit only a trajectory due to interference, these are taken into account as the ideal trajectory of the Alius vehicle. Method according to one of the preceding claims, characterized in that the vehicle checks whether a voting situation exists with at least one Alius vehicle and does not participate in a voting process if its trajectories are conflict-free. Device for a motor vehicle (A) for coordination of driving maneuvers between the vehicle (A) and at least one Alius vehicle (B, C, D), comprising: - a driving situation analysis device (20) for determining a planned driving path of the vehicle (A) and for determining environmental information of the vehicle (A) on the basis of environmental sensors of the motor vehicle (A), trajectory determination device (22) for determining an ideal trajectory (40A) for a given time or distance range along the travel path (A) on the vehicle Basis of the driving path and the surrounding information, further for determining a Zöger trajectory (42A) along the same driving path, wherein the Zöger trajectory (42A) opposite the Ideal trajectory (40A) the same travel path and a shorter length due to a time delay by has reduced vehicle speed, - a communication device (16) for communication with other vehicles (B, C, D) in the environment (Alii vehicles), which is designed to transmit the ideal trajectory (40A) and the Zöger trajectory (42A) to the Alii vehicles (B, C, D) as well as to receive the ideal trajectory (40B, 40C, 40D) and the delay trajectory (42B, 40C, 40D) of the Alii vehicles (B , C, D), - trajectory evaluation means (24), which is designed to determine whether a conflict situation exists when the vehicle (A) and the Alii vehicles (B, C, D) are moving according to their ideal trajectories (40A , 40B, 40C, 40D), and is arranged, upon determination of a conflict situation, for determining a non-conflicting default trajectory set for all vehicles (A, B, C, D) based on one for all vehicles (A, B , C, D) identical set of rules for each vehicle (A, B, C, D) is selected from the Ideal trajectory (40) or the Zöger trajectory (42), - a signal output device (30) which is connected to a connectable vehicle control device the specified for the vehicle (A) default trajectory to their departure or outputs the vehicle leadership r outputs direct driving instructions. Motor vehicle comprising a number of environmental sensors (18), a device (10) according to the previous claim and a vehicle control device (30) for the autonomous movement of the motor vehicle.

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