Method and device for a cooperative coordination between future driving maneuvers of one vehicle and the maneuvers of at least one other vehicle

A method performed by a processor of a vehicle for automated cooperatively coordinating future driving maneuvers of the vehicle with fellow maneuvers of at least one fellow vehicle, the method comprising the following steps:

• automatically rating a trajectory set of pre-planned trajectories for the vehicle with one effort value each using at least one rating criterion;
• automatically receiving a fellow data packet from the fellow vehicle, wherein the fellow data packet contains a fellow trajectory set with different pre-planned fellow trajectories for the fellow vehicle and a fellow effort value for each fellow trajectory;
• automatically combining one trajectory and one fellow trajectory each into tuples and combining the respective effort value with the respective fellow effort value into a tuple effort value of the tuple;
• automatically selecting collision-free tuples, wherein tuples are selected where the trajectory and the fellow trajectory are collision-free within a collision horizon;
• automatically selecting the collision-free tuple with the lowest tuple effort value and classifying the trajectory and the associated effort value of this tuple as reference trajectory and reference effort value;
• controlling the vehicle using the reference trajectory;
• automatically selecting trajectories having a lower effort value than the reference effort value and classifying these trajectories and associated effort values as demand trajectories and demand effort values, wherein a demand trajectory is an intended trajectory of the vehicle, with which a desired travel destination may be reached more favorably than with the reference trajectory;
• automatically selecting trajectories having a higher effort value than the reference effort value and classifying these trajectories and associated effort values as alternative trajectories and alternative effort values, wherein an alternative trajectory is a trajectory indicating a cooperation offer of the vehicle that the vehicle might be willing to drive if applicable;
• and
• automatically transmitting a data packet to the fellow vehicle, wherein the data packet contains a trajectory set of the reference trajectory and the associated reference effort value and at least one trajectory from a group comprising the demand trajectories and the alternative trajectories as well as the corresponding effort values.