DE102020205988A1 - Method and device for coordinating a maneuver - Google Patents

Abstract

The present invention relates to a method for coordinating a maneuver (400), wherein at least one maneuver object (114) to be coordinated of the maneuver (400) can be mapped with a variable level of detail in a maneuver coordination message (100) and the level of detail is set depending on the situation.

Description

Field of invention

The invention relates to a method for coordinating a maneuver and a corresponding device.

State of the art

A vehicle can coordinate a planned maneuver with other road users and, alternatively or in addition, with an involved traffic infrastructure by exchanging maneuver coordination messages (MCM).

There are different approaches to make communication uniform. What all approaches have in common is that the more road users are involved in the planned maneuvers, the greater the load on a communication infrastructure. This can lead to delays in communication if the bandwidth or transmission rate of the communication infrastructure is inadequate, so that often less precise and, in extreme cases, uncoordinated maneuvers are carried out.

Disclosure of the invention

Against this background, with the approach presented here, a method for coordinating a maneuver and a corresponding device, and finally a corresponding computer program product and a machine-readable storage medium according to the independent claims are presented. Advantageous developments and improvements of the approach presented here emerge from the description and are described in the dependent claims.

Advantages of the invention

Embodiments of the present invention can advantageously make it possible to adapt a data set for coordinating maneuvers to the respective situation.

A method for coordinating a maneuver is proposed, wherein at least one maneuver object to be coordinated of the maneuver can be mapped with a variable level of detail in a maneuver coordination message and the level of detail is set as a function of the situation.

Ideas for embodiments of the present invention can be viewed, inter alia, as being based on the thoughts and findings described below.

An autonomous or highly automated vehicle can use maneuver coordination messages (MCM) to exchange information about planned maneuvers with other vehicles and the traffic infrastructure so that the maneuvers can be carried out in cooperation. The maneuvers can be composed of several maneuver objects. Maneuver objects each represent alternative maneuver options. For example, a maneuver object can depict a planned or desired action between two waypoints of the maneuver. The maneuvering object can depict a trajectory or a driving intention or a reservation area.

If the maneuver is, for example, an overtaking maneuver, a maneuver object of the overtaking maneuver can be, for example, a lane change or pulling out before the actual overtaking. Further maneuver objects of the overtaking process can be the actual overtaking or driving past and a cut-in or another lane change after overtaking.

The maneuver coordination messages can have a standardized format. A maneuver coordination message can, for example, begin with a header or a header as an initial component and end with a signature or a certificate as an end component. The actual information of the maneuver coordination message is then located between the initial component and the final component. The maneuver object is shown in the information. A level of detail of the maneuver object indicates with how much information or how detailed the maneuver object is described.

The level of detail can indicate a level of detail or an accuracy with which information contained in the maneuver coordination message reflects the maneuver object to be coordinated. The level of detail can be set in stages. The levels can be, for example, "high level of detail", "medium-high level of detail", "medium-low level of detail" and "low level of detail".

A maneuver object can be described as a trajectory, for example. The trajectory depicts a time course of a direction and speed of a point on the trajectory. Given the high level of detail, the trajectory can be described by higher-order polynomials, but also other forms, in order to map an actual movement of the vehicle as precisely as possible. With the medium-high level of detail, the trajectory can be made up of low-order polynomials be described. The actual movement is only shown within a tolerance range.

The maneuver object can also be described as code. With the medium-low level of detail, the code can represent a word sequence, for example, the word sequence denoting a step within an action and optionally describing at least one attribute of the step.

With the low level of detail, a number of maneuver objects can be reduced and described together in the code. Sequences of maneuver objects can be described without attributes. The entire maneuver can also be abstracted and described as a whole. The relevant part of a trajectory can be described by a maneuver object. Different alternatives, i.e. different maneuver objects, are offered for coordination.

The level of detail can be set depending on a state of the communication channel for communicating the maneuver coordination message. The maneuver coordination messages can be sent over a limited bandwidth communication channel. With a given level of detail, only a certain amount of information can be transmitted within a time unit. The channel load can be described, for example, by a channel busy ratio, which represents a ratio between free and occupied parts of the communication channel. Threshold values for the channel load can be predefined for changing the level of detail. In particular, a high level of detail can be set when the channel load is low and a low level of detail can be set when the channel load is high. By reducing the level of detail with increasing channel load, the communication channel can be relieved and more maneuver coordination messages can be sent per unit of time with the same transmission quality. Otherwise there is an improved latency and reliability of the transmission with the same number of maneuver coordination messages.

The level of detail can be set depending on the complexity of the maneuver. In particular, a high level of detail can be set when the complexity is high and a low level of detail can be set when the complexity is low. For complex maneuvers, a higher accuracy in the representation of the maneuvers may be required than for simple maneuvers. For example, a turning maneuver caused by oncoming traffic may require more details than swimming evenly in traffic. If a high level of detail is selected only for complex maneuvers to be coordinated, while less complex maneuvers to be coordinated at approximately the same time are communicated with a low level of detail, more maneuvers can be coordinated reliably via a limited communication channel than if all maneuvers were coordinated with a high degree of detail will.

When driving with special rights, the maneuvers can be communicated with a higher level of detail than without special rights. For example, the police, emergency services and fire services can maneuver through narrower gaps using a higher level of detail than with a low level of detail. The journeys with special rights can also be coordinated at the expense of journeys without special rights.

The maneuver coordination message can be sent with at least one maneuver object container (MOC). The maneuver object container can contain a description of the at least one maneuver object of the maneuver. The maneuver coordination message can be structured by means of maneuver object containers. General information or information that is valid for the entire maneuver can be stored in at least one separate container. This avoids repetitions during the description of the maneuver objects.

The method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control device.

The approach presented here also creates a device which is designed to carry out, control or implement the steps of a variant of the method presented here in corresponding devices.

The device can be an electrical device with at least one processing unit for processing signals or data, at least one memory unit for storing signals or data, and at least one interface and / or one communication interface for reading in or outputting data that are embedded in a communication protocol, be. The computing unit can be, for example, a signal processor, a so-called system ASIC or a microcontroller for processing sensor signals and outputting data signals as a function of the sensor signals. The storage unit can be, for example, a flash memory, an EPROM or a magnetic storage unit. The interface can be used as a sensor interface for reading in the sensor signals from a sensor and / or as an actuator interface for outputting the Data signals and / or control signals can be configured to an actuator. The communication interface can be designed to read in or output the data wirelessly and / or wired. The interfaces can also be software modules that are present, for example, on a microcontroller alongside other software modules.

A computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk or an optical memory, and for performing, implementing and / or controlling the steps of the method according to one of the embodiments described above is also advantageous is used, especially when the program product or program is executed on a computer or device.

It should be noted that some of the possible features and advantages of the invention are described herein with reference to different embodiments. A person skilled in the art recognizes that the features of the control device and the method can be combined, adapted or exchanged in a suitable manner in order to arrive at further embodiments of the invention.

Figure list

• 1 zeigt eine Darstellung einer Manöverkoordinierungsnachricht gemäß einem Ausführungsbeispiel;
• 2 zeigt eine Darstellung einer Manöverbeschreibung mit einem hohen Detaillierungsgrad gemäß einem Ausführungsbeispiel;
• 3 zeigt eine Darstellung einer Manöverbeschreibung mit einem mittelhohen Detaillierungsgrad gemäß einem Ausführungsbeispiel; und
• 4 zeigt grafische Manöverbeschreibungen des gleichen Manövers mit unterschiedlichen Detaillierungsgraden.

Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be interpreted as restricting the invention.

• 1 shows an illustration of a maneuver coordination message according to an embodiment;
• 2 shows a representation of a maneuver description with a high level of detail according to an embodiment;
• 3 shows a representation of a maneuver description with a medium-high level of detail according to an embodiment; and
• 4th shows graphical maneuver descriptions of the same maneuver with different levels of detail.

The figures are only schematic and not true to scale. In the figures, the same reference symbols denote the same or equivalent features.

Embodiments of the invention

1 Figure 12 shows an illustration of a maneuver coordination message 100 according to an embodiment. Using the maneuver coordination message 100 a planned maneuver of a transmitter can be coordinated with at least one receiver. A transmitter can be a road user or an infrastructure object. A recipient can also be a road user or an infrastructure object. Sender and receiver can be referred to as stations. The maneuver coordination message 100 has a predefined log format or file format. The maneuver coordination message 100 has a header 102 , a central information section 104 on. The maneuver coordination message 100 can also be a signature 106 and at the end a certificate 108 exhibit. The signature 106 and the certificate 108 If necessary, only all X messages can be attached.

The header 102 can be referred to as ITS header. In the header 102 are a version of the protocol, an identification of the maneuver coordination message 100 , an identification of the station and a time stamp. The station can be a transmitter or a relaying station.

The information part 104 has a plurality of containers. A first container can be used as a sender container 110 and contains information about the sender. A type of sender and a last geographic position of the sender are stored in the first container. The type represents whether the sender is a road user or an infrastructure object. It can also be further broken down what kind of road user or what kind of infrastructure object the transmitter is.

After the sender container 110 indicates the information part 104 at least one maneuver object container 112 on. The maneuvering object container 112 are numbered. In a maneuver object container 112 is at least one maneuver object each 114 of the maneuver. The maneuver objects 114 are also numbered. A maneuvering object 114 is only described once, i.e. not in several maneuver object containers 112 parallel. A file size or amount of data of the maneuver coordination message 100 essentially depends on the level of detail with which the maneuver objects are 114 are described.

After the maneuvering object containers 112 can the information part 104 still have further containers in which further information is stored.

The signature 106 contains encryption information and the certificate 108 contains information about the verification of the signature 106 .

In the approach presented here, the maneuver objects 114 with a variable level of detail in the maneuver coordination message 100 described. The level of detail depends on the situation. In particular, the maneuver objects 114 mapped with a reduced level of detail when a channel load is on for sending the maneuver coordination message 100 communication channel used is increased.

In one embodiment, the maneuver objects 114 Depicted with an increased level of detail if the complexity of the maneuver to be coordinated is increased.

2 shows a representation of a maneuver description 200 with a high level of detail according to an embodiment. The maneuver description 200 can for example be contained in a maneuver object container as described in 1 is shown. The maneuver description 200 consists of a maneuver object 114 . The maneuvering object 114 describes a complete maneuver. It may also consist of maneuver distribution objects (points, etc.). A maneuver coordination message usually comprises more than just one maneuver object 114 to enable coordination with the cooperating partners. There will be one as a maneuvering object 114 designated reference trajectory or movement and additionally desired and / or alternative trajectories. The maneuvering object 114 is shown here as the course of a location coordinate x over time. The maneuvering object 114 is shown in a diagram that has the time t on its abscissa and the location coordinate x on its ordinate. Because the maneuvering object 114 is usually mapped multidimensional in the maneuver object container, includes the complete maneuver description 200 at least one further dimension or at least one further, not shown here, temporal course of a further location coordinate.

The highly detailed maneuvering object 114 the maneuver description 200 connects multiple waypoints 202 of the maneuver using polynomials 204 higher order. The polynomials 204 approximate a planned trajectory with a high degree of accuracy.

In the maneuver object container, there is a high level of detail for each maneuver object 114 multiple polynomials 204 higher order and the associated polynomial coefficients c are stored. The polynomials shown here 204 are of the seventh order and each have eight polynomial coefficients c.

In one embodiment, the waypoints are 202 always interpolated with predetermined or predefined polynomials / functions, so that only coordinates of the waypoints 202 be transmitted.

3 shows a representation of a maneuver description 200 with a medium-high level of detail according to an embodiment. The maneuver description 200 can be stored in a maneuver object container as in 1 be included if the level of detail compared to the representation in 2 should be lowered. The maneuvering object shown here 114 is in contrast to the maneuver objects in 1 shown two-dimensionally in x and y. The maneuvering object 114 is as a polynomial 204 second order and approximates the planned trajectory with less accuracy than the seventh order polynomials in 2 . Therefor are for describing a polynomial 204 second order only three polynomial coefficients required. As a result, a file size of the maneuver coordination message can be compared to the level of detail in the representation in 2 can be significantly reduced.

4th shows four representations a, b, c and d of different graphic maneuver descriptions 200 of the same maneuver 400 with different levels of detail. The maneuver descriptions 200 each describe the same maneuver to be coordinated 400 . The maneuver 400 results in each case from the same situation in which a vehicle B wants to drive onto a three-lane road or a motorway via an acceleration lane. It is necessary to thread into the flowing traffic. The threading is the maneuver to be coordinated 400 and can be done in several ways. The maneuver 400 is coordinated between vehicle B and vehicle A in the right lane of the road. Vehicle B can cut into flowing traffic in the right-hand lane either in front of or behind vehicle A. If the middle lane is free, vehicle A could also switch to the middle lane, as a result of which vehicle B could enter the right lane next to vehicle A. Vehicle A is a tractor-trailer here. The vehicle B is a car.

A high level of detail is shown in illustration a. The maneuver objects 114 of the possibly drivable maneuvers 400 are like in 2 as polynomials 204 higher order between a large number of waypoints 202 described. The maneuver coordination messages to be exchanged between vehicles A and B for coordinating a maneuver to be carried out 400 have a large file size due to the high level of detail.

A medium-high level of detail is shown in illustration b. The maneuver objects 114 of the possibly drivable maneuvers 400 are like in 3 as polynomials 204 low order between a low number of waypoints 202 described. The maneuver coordination messages to be exchanged between vehicles A and B for coordinating the maneuver to be carried out 400 have a medium-sized file size due to the medium-high level of detail.

A medium-low level of detail is shown in illustration c. The maneuver objects 114 of the possibly drivable maneuvers 400 are described semantically with adjectives and may no longer contain coordinates. The maneuver coordination messages to be exchanged between vehicles A and B for coordinating the maneuver to be carried out 400 have a medium-small file size due to the medium-low level of detail.

A low level of detail is shown in illustration d. The possibly drivable maneuvers 400 are described semantically. The maneuver coordination messages to be exchanged between vehicles A and B for coordinating a maneuver to be carried out 400 have a small file size due to the low level of detail.

In other words, a protocol format for a maneuver coordination message is described which supports a data-controlled channel congestion control.

In the context of increasing traffic automation, vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I) and vehicle-to-pedestrian (V2P) communication, collectively referred to as V2X (vehicle-to-everything) communication, play a key role. Services such as collaborative awareness and collective awareness, which enable vehicles to share information about their own condition and the information gathered by their on-board sensors, are designed to improve the vehicles' perception of the environment. Recently, the maneuver coordination service has emerged as a promising V2X application. It enables the vehicles to exchange information about the trajectories they are following and to coordinate and harmonize the maneuvers of the road users. This service is currently being developed at the European Telecommunications and Standards Institute (ETSI) for future standardization. Recently, various projects and companies have proposed a number of formats to describe such a path, from a purely semantic description to a completely deterministic one. So far, the various alternatives have been competing for standardization.

The main difference between the trajectory descriptions in terms of their impact on function is the level of detail in which they can describe a particular traffic maneuver. A higher level of detail leads to a better description of the scenario and can thus allow driving more precisely. This can lead to increased traffic safety and traffic efficiency. On the other hand, a more detailed description requires an increased exchange of data between the cooperating road users and can thus lead to an overload of the communication channel. Due to its negative impact on the packet delivery ratio (PDR), an overloaded channel means packet loss and thus has a negative effect on the performance of the Maneuver Coordination Service (MCS). To mitigate this effect, the ETSI ITS committee standardized a simple decentralized channel congestion control (DCC) protocol to reduce channel congestion in such cases. It is a gatekeeper that is located between the network and the access level and reduces either the transmission rate of the messages or the transmission performance depending on the channel working relationship or the perceived channel load. However, the content and type of the message are not taken into account.

The approach presented here proposes a new message format for the maneuver coordination message (MCM), which makes it possible to transmit the trajectories described in different levels of detail depending on the state of the communication channel, the environment and the traffic.

Different priorities are assigned to the different formats of the message.

The main advantage of the proposed message format is the ability to dynamically adapt to environmental conditions in order to optimize the performance of the maneuver coordination service. In the event that the communication channel is far from saturated, it will enable highly precise driving by enabling road users to exchange trajectories with a high level of detail. In such a scenario, it will do as well as other maneuver coordination messages with very detailed trajectories, outperforming all others. On the other hand, for a heavily congested channel, it will still allow the exchange of information, by reducing the amount of data transmitted per trajectory and thus guaranteeing a minimum quality of service. While other simple-trajectory maneuver coordination messages can produce similar results in this scenario, complex maneuver coordination messages will further overload the channel and degrade not only the performance of the maneuver coordination service but also that of other V2X services on the same channel. The proposed message format thus makes it possible to react dynamically to the environmental conditions in order to achieve the highest possible performance by taking the advantages of all previously proposed message formats into account. It can also be easily combined with a priority-based decentralized channel overload control protocol.

The proposed message format of the maneuver coordination message enables its content to be dynamically adapted to the ambient conditions. Its content is therefore variable and results from the filling of the respective data fields (e.g. Maneuver Object Containers). The format of this protocol, which is located on the system level or the facility layer (see V2X protocol stack in : "V2X messages"), could be as in look shown.

In 1 a possible protocol format of the maneuver coordination message is shown. The central parts are the maneuver object containers (MOC), which enable the description of a maneuvering object (eg a trajectory) in different levels of detail depending on the specifications of the maneuvering object container.

It contains the mandatory ITS header with essential information about the message, the originating station container (OSC), including information about the sender (ITS station type), its latest geographical position, etc., the maneuvering object container and can be expanded to include other containers including other relevant information, as well as a signature and the certificate. The order in which the containers and sections are displayed is not fixed and may vary during implementation.

• HD-MOC (Hohe Detailgenauigkeit Manöverobjektcontainer für komplexe Funktionen)

The maneuver object containers are the central part of the message. They enable the transfer of maneuvering objects (trajectories and / or movement areas and / or movement intentions, etc.), which are described in different levels of detail depending on the environmental conditions. The number of maneuver objects contained in a maneuver object container can therefore vary. Each maneuver object will only be contained in one of the maneuver object containers. A maneuver coordination message can, however, contain several maneuver object containers, which in turn can contain several different maneuver objects. It can contain information about how the maneuver was generated, depending on the level of detail. Some of the levels of detail that are considered for describing the maneuvering objects contained in a maneuvering object container are, for example:

• HD-MOC (high level of detail, maneuvering object container for complex functions)

Description: These can, for example, consist of several subsegments, each of which is represented by higher-order polynomials or other complex functions. The higher the number of description parameters, the more precisely the maneuvering object can be described. Use cases: If a highly precise description of the maneuver is required and the ambient conditions allow this, the maneuver can be described with a high level of detail. This is usually the case, for example, during overtaking maneuvers on a country road (especially if the vehicle to be overtaken is a truck) with oncoming traffic. Other examples are left turns on country roads with oncoming traffic or hardly used intersections.

In 2 an exemplary, very detailed description of a maneuvering object is shown. It consists of four points connected by three subsegments. Each of the points describes a vehicle condition. This can include, among other things, an absolute or relative position, an estimated time of arrival at the point, the direction of travel of the vehicle, the speed and acceleration. In the example, each of the subsections is described by a polynomial of the seventh degree n = 7 for each coordinate, while in for the sake of simplicity, only x is shown. A total of 8 polynomial coefficients are therefore required per coordinate, which are transmitted for each sub-segment. The accuracy (and complexity) of the maneuvering object can be further improved by parameterizing the speed (x, y, z), direction, etc. in the same way.

MHD-MOC (medium level of detail maneuvering object container for simple functions)

Description: A medium-high detailed description of the maneuvering object container could contain maneuvering objects that are represented by no, one or at most a few subsections that are themselves parameterized by simple functions, such as low-order polynomials, Euler spirals (clothoids) or other simple functions.

Use cases: If the communication channel begins to limit the performance of the maneuver coordination service, the channel load must be reduced by reducing the amount of data transmitted, which is done by a decentralized channel congestion control protocol in combination with the message generation unit. This maneuvering object container can be used, for example, by vehicles in a light traffic jam on a freeway, at an intersection with average vehicle density or on a country road near a freeway if a complex cooperation maneuver does not have to be carried out.

In 3 an exemplary, relatively detailed description of a maneuvering object is shown.

An example of an object that is described with a medium level of detail is in 3 shown. It consists of two points connected by a section. As in the previous example, the points describe vehicle states. The section is described by a second order polynomial n = 2 on the x coordinate and a first order polynomial n = 1 on the y coordinate. A total of three polynomial coefficients per dimension are therefore transmitted for the segment.

MND-MOC (medium-low level of detail maneuver object container for semantic descriptions with attributes)

Description: A medium-low detailed description of the maneuver object container can semantically describe the planned maneuver with a common list of maneuvers and attributes, such as: B. "Follow track", with additional attributes such as "constant speed". The description can also contain several subsequent partial maneuvers, e.g. B. "Accelerate" and "Change to the left lane". In this way, only the codes of the maneuver and the attributes have to be transmitted and receiving vehicles can derive more specific trajectories (or other maneuver representations) if necessary. Maneuvers can be defined hierarchically, which enables further levels of detail or aggregations. Attributes allow additional parameterization of the maneuver either through numerical values (or value ranges) or a qualitative categorization of these maneuvers (e.g. "slow lane change").

Use cases: On a road with a high number of vehicles, e.g. at an intersection, a maneuver object container with a lower level of detail can be selected, especially if the maneuver is easy to describe, such as "following vehicle in front". Neighboring vehicles that receive the message can calculate / estimate the resulting trajectory.

Examples: If a vehicle follows a lane without turning, the maneuvering object container can be reduced to "Follow lane" with the additional attribute "constant speed" or possibly a certain target speed / acceleration. In this way, all other vehicles that receive the message can calculate the resulting trajectories, coordinates or areas, etc. If the vehicle is planning to overtake a vehicle in front, the maneuvering object container can "accelerate" the maneuvers and attributes, "change to the left lane", "pass the neighboring vehicle", "change to the right lane" to carry out the desired overtaking maneuver with comments how to describe the target speed while overtaking.

• links/rechts abbiegen
• Spurwechsel links/rechts
• Überholen/passieren
• Spur folgen
• Fahrzeug folgen
• Stoppen
• An Objekt annähern
• Rückwärtsfahren
• Abstand / Lücke ändern

The maneuvers can include, for example:

• turn left / right
• Lane change left / right
• Overtaking / passing
• Follow track
• Follow vehicle
• To stop
• Approach the object
• Drive backwards
• Change distance / gap

Speed attributes can be, for example: zero, very slow, slow, medium, fast, very fast. Attributes for the direction can be, for example: to / from front, front left, left, back left, back, front right, right, back right. Attributes for the distance can be, for example: very close, near, medium, far, very far - depending on the speed. Timing attributes can be, for example: very early, early, medium, late, very late. Attributes for the action can be, for example: very abrupt / fast, abrupt / fast, medium, smooth, very smooth.

ND-MOC (low level of detail maneuver object container for semantic description with further attributes)

Description: With a low level of detail, the planned maneuver could be described more abstractly by means of a maneuver object container with a lower level of detail, thus further reducing the data volume of the message. Instead of providing a series of successive maneuvers as with the MND-MOC, a higher-order maneuver such as “overtake vehicle ahead” is provided. A common list of maneuvers makes it possible to only send the key maneuver without further details, as with the MND-MOC. This is more like the intent of the vehicle than an actual trajectory. It can contain additional attributes or parameters, e.g. B. the desired speed or acceleration (as above).

Use cases: On roads and at intersections with a very high number of vehicles, the wireless communication channel can be extremely overloaded. In this case, it may not be possible to continue using the channel when large messages are being transmitted. Maneuvering objects must therefore be transmitted with a low level of detail whenever the maneuver coordination allows this. Maneuvers with low complexity, such as following a vehicle in a clearly defined lane or maneuvers at a rather low speed, can be described with just a few details so that other vehicles that receive a maneuver coordination message can derive a more specific maneuver with sufficient precision can.

Examples: If a vehicle drives in the same lane behind a slower vehicle and wants to overtake, the maneuvering object container only describes the maneuver on an abstract level instead of the actual trajectory, which may take place with the desired target speed of 50 km / h or acceleration.

The maneuver object container can contain additional information about the common list of maneuvers, e.g. B. the standard / version. Further fields such as maneuver object ID, type, descriptions (in particular costs or priorities) and other additional fields can be contained for each maneuver object depending on the maneuver object container specifications.

Finally, it should be noted that the message format only affects the way in which a trajectory, a range of motion or some other type of motion description is presented. However, the number of these transmitted objects can vary depending on the priorities of the objects that can be selected for transmission. In general, a decentralized channel congestion control protocol is responsible for determining a transmission priority.

1. a) Niedrige Kanallast, beide Fahrzeuge übertragen hochpräzise Trajektorien, die durch komplexe Funktionen ausgedrückt werden.
2. b) Mittelhohe Kanallast, die Fahrzeuge übertragen Trajektorien, z.B. beschrieben durch Polynome niedrigerer Ordnung.
3. c) Mittelniedrige Kanallast werden die Manöver semantisch beschrieben, einschließlich Attributen.
4. d) Hohe Kanallast, der Kanal erlaubt nur eine sehr allgemeine semantische Beschreibung der geplanten Manöver zu teilen.

In 4th trajectory descriptions are shown for vehicle B, which wants to work together with vehicle A in order to be allowed to enter the motorway under different environmental conditions.

1. a) Low channel load, both vehicles transmit high-precision trajectories that are expressed using complex functions.
2. b) Medium-high channel load, the vehicles transmit trajectories, e.g. described by lower-order polynomials.
3. c) Medium-low channel load, the maneuvers are described semantically, including attributes.
4. d) High channel load, the channel only allows a very general semantic description of the planned maneuvers to be shared.

Finally, it should be pointed out that terms such as “having”, “comprising”, etc. do not exclude any other elements or steps and that terms such as “a” or “an” do not exclude a plurality. Reference signs in the claims are not to be regarded as a restriction.

Claims (10)

A method for coordinating a maneuver (400), wherein at least one maneuver object (114) of the maneuver (400) to be coordinated can be represented with a variable level of detail in a maneuver coordination message (100) and the level of detail is set depending on the situation. Procedure according to Claim 1 , in which the level of detail is set as a function of a state of a communication channel for communicating the maneuver coordination message (100). Procedure according to Claim 2 , in which a high level of detail is set when the channel load is low, and a low level of detail is set when the channel load is high. Method according to one of the preceding claims, in which the level of detail is set as a function of a complexity of the maneuver (400). Procedure according to Claim 4 , in which a high level of detail is set when the complexity is high, and a low level of detail is set when the complexity is low. Method according to one of the preceding claims, in which the degree of detail is set in stages. Method according to one of the preceding claims, in which the maneuver coordination message (100) is sent with at least one maneuver object container (112), the maneuver object container (112) being a description of the includes at least one maneuver object (114) of the maneuver (400). Device, the device being designed to carry out, implement and / or control the method according to one of the preceding claims in corresponding devices. Computer program product which is set up to instruct a processor when executing the computer program product to implement the method according to one of the Claims 1 until 7th execute, implement and / or control. Machine-readable storage medium on which the computer program product according to Claim 9 is stored.

Images