Method for forming and for coordinating at least one group of vehicles

A method for forming and coordinating a group of autonomous or semi-autonomous vehicles, the method comprising:

• transmitting, by a first vehicle, a coupling inquiry requesting coupling with a second vehicle that is present in surroundings of the first vehicle;
• establishing or ascertaining a platoon coordination vehicle;
• checking, by the platoon coordination vehicle, whether there is a conflict in the coupling of the first vehicle to the second vehicle;
• coupling, after the conflict has been resolved or in absence of the conflict, the first vehicle to the second vehicle to form or modify the group;
• placing, during presence of the conflict, the first vehicle in a waiting loop and/or providing direct feedback by a platoon coordination vehicle to an inquiring potential platoon vehicle that a coupling can only be tried again after a defined time period;
• and
• transmitting, after the checking, in which presence of the conflict is determined, from the first vehicle another coupling inquiry after passage of a waiting period;
• wherein the conflict is determined to exist when multiple simultaneous coupling inquiries are transmitted, and the conflict is resolved by arbitration of the coupling inquiries,
• wherein the arbitration of the coupling inquiries is carried out based on a distance between (a) the first vehicle and (b) the platoon coordination vehicle, a front boundary of the group, or a rear boundary of the group,
• wherein the conflict exists when a maximum number of platoon vehicles is reached in the group, and the conflict is resolved by declining another coupling inquiry, and
• wherein the platoon coordination vehicle stores information regarding the vehicles of the group that other vehicles of the group do not store.