Method and device for the decentralized coordination of driving maneuvers

A method for the decentralized coordination of driving maneuvers of at least two motorized transportation vehicles, the method comprising:

• providing a planned trajectory and a desired trajectory by a maneuver planning device in a first motorized transportation vehicle;
• transferring the planned trajectory and the desired trajectory to at least a second motorized transportation vehicle in the surroundings via a maneuver coordination device of the first motorized transportation vehicle, wherein the maneuver coordination device communicates with the second motorized transportation vehicle via a Vehicle2Vehicle interface;
• receiving the planned trajectory and the desired trajectory of the first motorized transportation vehicle by a maneuver coordination device of the second motorized transportation vehicle;
• comparing the planned trajectory of the second motorized transportation vehicle with the received desired trajectory of the first motorized transportation vehicle in a maneuver planning device of the second motorized transportation vehicle, and
• adapting the planned trajectory of the second motorized transportation vehicle by the maneuver planning device of the second motorized transportation vehicle to form an adapted planned trajectory in response to meeting at least one adaptation criterion,
• wherein the planned and desired trajectories of the first motorized transportation vehicle are combined with a strategic trajectory of the first motorized transportation vehicle, and the planned trajectory and a desired trajectory of the second motorized transportation vehicle are combined with a strategic trajectory of the second motorized transportation vehicle,
• wherein the planned trajectories of the first and second motorized transportation vehicles are free of collisions with one another, and
• wherein the adaptation criterion is that the received desired trajectory of the first motorized transportation vehicle collides with the planned trajectory of the second motorized transportation vehicle, and a total cost function is optimized by the adaptation, wherein the total cost function comprises at least cost functions of the first and second motorized transportation vehicles.