US 12,249,239 B2
Method for providing a maneuver message for coordinating a maneuver between a road user and at least one further road user in a communication network
Florian Alexander Schiegg, Hildesheim (DE); Ignacio Llatser Marti, Hildesheim (DE); Frank Hofmann, Hildesheim (DE); Florian Wildschuette, Hildesheim (DE); Hendrik Fuchs, Hildesheim (DE); Maxim Dolgov, Renningen (DE); and Thomas Michalke, Weil der Stadt (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/773,804
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Sep. 25, 2020, PCT No. PCT/EP2020/076927
§ 371(c)(1), (2) Date May 2, 2022,
PCT Pub. No. WO2021/089238, PCT Pub. Date May 14, 2021.
Claims priority of application No. 10 2019 216 913.9 (DE), filed on Nov. 4, 2019.
Prior Publication US 2022/0392341 A1, Dec. 8, 2022
Int. Cl. G08G 1/0967 (2006.01); G08G 1/16 (2006.01); G08G 1/09 (2006.01)
CPC G08G 1/096791 (2013.01) [G08G 1/162 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for providing a maneuver message for coordinating a maneuver between a road user and at least one further road user in a communication network, the road user and the at least one further road user being linked to one another via the communication network, the road user including an evaluation unit configured to evaluate communication data received via the communication network and/or sensor data generated by a sensor system for detecting surroundings of the road user, and to transfer maneuver messages via the communication network, the method comprising the following steps:
receiving the communication data and/or the sensor data in the evaluation unit;
determining at least one possible trajectory of the road user based on the communication data and/or the sensor data, at least one trajectory parameter describing a property of the at least one possible trajectory being ascertained;
calculating a trajectory transfer priority from the trajectory parameter, the trajectory transfer priority representing a relevance of the at least one possible trajectory for the road user and/or the further road user;
determining, based on the trajectory transfer priority, whether the at least one possible trajectory is to be included in a maneuver message;
based on determining the at least one possible trajectory is to be included in the maneuver message, generating the maneuver message including the at least one possible trajectory, and sending the maneuver message via the communication network; and
coordinating, by an actuator, a movement of the road user and a movement of the further user based at least on the maneuver message, wherein objects in the surroundings of the road user are recognized based on the communication data and/or the sensor data, the at least one possible trajectory being determined as a function of the recognized objects, wherein:
multiple possible trajectories of the road user are determined as a function of the recognized objects;
costs, which indicate a benefit of the possible trajectory for the road user, are determined for each of the possible trajectories;
based on the object trajectories, at least one object trajectory is determined for each of the recognized objects;
based on the object trajectories, it is determined whether the possible trajectories are collision-free;
based on the costs and based on whether the possible trajectories are collision-free, the possible trajectories are divided into reference trajectories and/or needs trajectories and/or alternative trajectories, the reference trajectories being collision-free, the needs trajectories not being collision-free and having lower costs than the reference trajectories, and the alternative trajectories not being collision-free and having higher costs than the reference trajectories; and
higher trajectory transfer priorities are calculated for the reference trajectories than for the needs trajectories and the alternative trajectories.