Method, Computer Program Product, Computer-Readable Medium, Control Unit, and Vehicle Comprising the Control Unit for Determining a Collective Maneuver of at Least Two Vehicles

A control unit for determining a collective maneuver of at least two vehicles, wherein the control unit is configured to:

• receive a state of a first vehicle and a state of at least one further vehicle in an environment of an ego vehicle;
• determine a current formation for the first vehicle and the at least one further vehicle on the basis of the received state of the first vehicle and the received state of the at least one further vehicle in the environment of the ego vehicle, wherein the current formation comprises a relative arrangement of the first vehicle and the at least one further vehicle with respect to a road;
• determine a set of collective maneuvers on the basis of the current formation, wherein each collective maneuver in the set of collective maneuvers comprises a sequence of formations from the current formation to an end formation;
• calculate a trajectory for the first vehicle and a trajectory for the at least one further vehicle for a collective maneuver from the set of collective maneuvers;
• and
• determine the collective maneuver from the set of collective maneuvers on the basis of the calculated trajectories of the collective maneuver from the set of collective maneuvers and a movement of the first vehicle and of the at least one further vehicle, as captured by a sensor system of the ego vehicle.

A vehicle comprising a control unit for determining a collective maneuver of at least two vehicles, wherein the control unit is configured to:

• receive a state of a first vehicle and a state of at least one further vehicle in an environment of an ego vehicle;
• determine a current formation for the first vehicle and the at least one further vehicle on the basis of the received state of the first vehicle and the received state of the at least one further vehicle in the environment of the ego vehicle, wherein the current formation comprises a relative arrangement of the first vehicle and the at least one further vehicle with respect to a road;
• determine a set of collective maneuvers on the basis of the current formation, wherein each collective maneuver in the set of collective maneuvers comprises a sequence of formations from the current formation to an end formation;
• calculate a trajectory for the first vehicle and a trajectory for the at least one further vehicle for a collective maneuver from the set of collective maneuvers;
• and
• determine the collective maneuver from the set of collective maneuvers on the basis of the calculated trajectories of the collective maneuver from the set of collective maneuvers and a movement of the first vehicle and of the at least one further vehicle, as captured by a sensor system of the ego vehicle.