# US 2018/0321689 A1 · Method and device for the decentralized coordination of driving maneuvers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0321689 A1 - Document ID: US20180321689A1 - Status: Published application - Kind: A1 - Application number: 15/773,833 - Filed: 2016-10-12 - Published: 2018-11-08 - Earliest claimed: 2015-11-06 - Assignees: Volkswagen Aktiengesellschaft; Audi AG - Applicants: Volkswagen Aktiengesellschaft; Audi AG - Inventors: Bernd LEHMANN; Sandra KLEINAU; Jan-Niklas MEIER; Bernd RECH; Teodor BUBURUZAN; Stefan GLÄSER; Hendrik-Jörn GÜNTHER; Monique ENGEL; Patrick PASCHEKA - Web page: https://patentgrep.com/patent/US20180321689A1 ## CPC - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G08G 1/163: {involving continuous checking} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04W 4/46: for vehicle-to-vehicle communication [V2V] - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A method for the decentralized coordination of driving maneuvers of at least two motorized transportation vehicles. A planned trajectory and a desired trajectory are transferred from a first motorized transportation vehicle to a second motorized transportation vehicle. In the second motorized transportation vehicle, a planned trajectory of the second motorized transportation vehicle is compared with the desired trajectory of the first motorized transportation vehicle. The planned trajectory of the second motorized transportation vehicle is adapted in response to satisfaction of adaptation criterion. The planned and desired trajectories of the first motorized transportation vehicle are combined with a strategic trajectory of the first motorized transportation vehicle. 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. The planned trajectories of the first and second motorized transportation vehicles are collision-free with respect to one another. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, wherein the adapted planned trajectory is transferred to the maneuver coordination device of the first motorized transportation vehicle by the maneuver coordination device of the second motorized transportation vehicle after the adaptation of the planned trajectory of the second motorized transportation vehicle, and the planned trajectory of the first motorized transportation vehicle is replaced with the desired trajectory of the first motorized transportation vehicle by the maneuver planning device of the first motorized transportation vehicle. ### Claim 3 (depends on 1) The method of claim 1, characterized wherein the optimization of the total cost function comprises a comparison of costs for the execution of the planned trajectories of the first and second motorized transportation vehicles with costs for the execution of the desired trajectory of the first motorized transportation vehicle and for the execution of the adapted planned trajectory of the second motorized transportation vehicle. ### Claim 4 (depends on 1) The method of claim 1, wherein a normal behavior and at least one basic maneuver are carried out by the maneuver planning devices of the at least two motorized transportation vehicles to ensure the freedom from collision of the planned trajectories. ### Claim 5 (depends on 1) The method of claim 1, wherein the desired trajectories of the at least two motorized transportation vehicles have a prioritization, with the result that a ranking of the desired trajectories are produced, wherein the ranking determines which of the desired trajectories is implemented. ### Claim 6 (depends on 1) The method of claim 1, wherein the desired trajectories of the at least two motorized transportation vehicles are free of collision. ### Claim 7 (depends on 1) The method of claim 1, wherein the planned trajectory and the desired trajectory of the first motorized transportation vehicle are transferred by the maneuver coordination device only to other motorized transportation vehicles in a predefined area surrounding the first motorized transportation vehicle. ### Claim 8 (depends on 1) The method of claim 1, wherein the maneuver coordination device produces an estimation of the planned trajectory of the other motorized transportation vehicle for another motorized transportation vehicle for which no planned trajectory and/or desired trajectory are available. ### Claim 9 (depends on 1) The method of claim 1, wherein the planned trajectory and the desired trajectory of the first motorized transportation vehicle are transferred to the second motorized transportation vehicle and/or to another motorized transportation vehicle by the maneuver coordination device at regular time intervals and/or when the planned trajectory and/or desired trajectory is changed. ### Claim 10 A device in a first motorized transportation vehicle for the decentralized coordination of driving maneuvers with at least a second motorized transportation vehicle, the device comprising: a maneuver coordination device for coordinating driving maneuvers with the second motorized transportation vehicle in the area surrounding the first motorized transportation vehicle, wherein the maneuver coordination device is equipped with a Vehicle2Vehicle interface to communicate with the second motorized transportation vehicle, and a maneuver planning device for providing a planned trajectory and a desired trajectory of the first motorized transportation vehicle, wherein the maneuver coordination device transfers the provided planned trajectory and the provided desired trajectory of the first motorized transportation vehicle at least to the second motorized transportation vehicle, and receives planned trajectories and desired trajectories which are transferred by the second motorized transportation vehicle, and wherein the maneuver planning device adapts the planned trajectory of the first motorized transportation vehicle as a function of the received desired trajectory of the second motorized transportation vehicle to form an adapted planned trajectory given the presence of an adaptation criterion, wherein the planned trajectories and desired trajectories of the first motorized transportation vehicle are combined with a strategic trajectory of the first motorized transportation vehicle, wherein the planned trajectories of the first and second motorized transportation vehicles are free of collision with one another, and wherein the adaptation criterion is that the received desired trajectory of the second motorized transportation vehicle collides with the planned trajectory of the first 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.