DE102015220481B4 - Method and device in a traffic unit for the cooperative coordination of driving maneuvers of at least two motor vehicles - Google Patents

Abstract

Method in a traffic unit (55) for cooperatively coordinating driving maneuvers of at least two motor vehicles (50, 51, 52), wherein the at least two motor vehicles (50, 51, 52) are traffic units (55) and the traffic units (55) communicate via a Car2Car interface (4), comprising the following steps:Detecting a traffic situation (60) in the vicinity of the at least two motor vehicles (50, 51, 52) by at least one sensor (2),Predicting a future traffic situation of the at least two motor vehicles (50, 51, 52) on the basis of the environmental data detected by the at least one sensor (2) by a forecasting device (5),Checking on the basis of the future traffic situation whether at least one trigger criterion (20) is present by the forecasting device (5),and if a trigger criterion (20) is present:Sending a request (21) to other traffic units (55) in the vicinity by a planning device (6),and if the traffic unit (55) one of the at least two motor vehicles (50, 51, 52) is:Transmitting properties (25) of the motor vehicle (50) after receiving the request (21);Furthermore, receiving properties (26) of other motor vehicles (51, 52) by the planning device (6),Planning trajectories (30) for the at least two motor vehicles (50, 51, 52) in the planning device (6), wherein the planning of the trajectories (30) is carried out on the basis of environmental data recorded by the at least one sensor (2) and the properties (25, 26) of the at least two motor vehicles (50, 51, 52),Transmitting the planned trajectories (30) to the other traffic units (55) in the environment,Receiving planned trajectories (31) from the other traffic units (55) in the environment,Evaluating the planned trajectories (30, 31) by an evaluation device (7) on the basis of an evaluation scale (24),Transmitting the evaluations (32) for the planned trajectories (30, 31) to the other traffic units (55),Receiving evaluations (33) for the planned trajectories (30, 31) from the other traffic units (55),Selecting an optimal combination (70, 71, 72) of planned trajectories (30, 31) for the at least two motor vehicles (50, 51, 52) by the planning device (6) on the basis of all evaluations (32, 33) and a predetermined selection criterion (15),Carrying out the optimal combination (70, 71, 72) of planned trajectories (30, 31) by the at least two motor vehicles (50, 51, 52),Characterized in thatthe request (21) comprises at least one target (22) of the request, an area (23) of an interaction and the rating scale (24), andthe properties (25, 26) comprise at least performance data (27) and a unique identifier (28) of the respective transmitting motor vehicle (50, 51, 52), and wherein the planned trajectories (30, 31) are evaluated by the evaluation device (7) on the basis of individual criteria of the traffic unit (55), so that the planned trajectories (30, 31) of all traffic units (55) are each mutually evaluated.

Description

The invention relates to a method and a device in a traffic unit for cooperatively coordinating driving maneuvers of at least two motor vehicles.

Modern motor vehicles have a variety of assistance systems that support the driver in driving the vehicle. Semi-autonomous and autonomous systems are increasingly being used, which allow semi- or fully automatic control of the vehicle. These intelligent (partially) automated vehicles continuously make decisions that affect their own driving behavior. These decisions are made individually and independently in each vehicle. This means that the mutual feedback of the individuals takes place through a continuous plan adjustment to the current assumption of the driving behavior of the surrounding vehicles. This individual decoupled decision can lead to suboptimal or unstable - constantly changing - decisions.

From the EN 10 2012 011 994 A1 A method is known for cooperatively controlling a traffic situation with at least two vehicles that exchange information between the at least two vehicles using a Car2Car interface, with the exchanged information being used to influence the driving behavior of the vehicles involved. In addition to the current driving behavior and current driving information, the driving behavior intended by a first vehicle is transmitted to a second of the at least two vehicles as information to be exchanged. Based on the information about the intended driving behavior, the second vehicle adapts its driving behavior to the intended driving behavior of the first vehicle.

From the EP 2 164 059 A1 A method is known for controlling a traffic situation involving a number of vehicles, in which the traffic situation is recorded by sensors of the vehicles and data on the recorded traffic situation is exchanged between the vehicles, so that common data on the traffic situation is provided for the vehicles, with trajectories of the vehicles being regulated taking the common data into account. Furthermore, an arrangement for controlling a traffic situation is known.

The disadvantage of the aforementioned methods is that although a traffic situation is distributed between several vehicles, the coordination is based on the decoupled evaluations of individually planned trajectories. On the one hand, the methods do not communicate the expected behavior of the other road users and, on the other hand, the participation is limited to approval and rejection and does not realize any active participation in shaping the solution.

The invention is based on the technical problem of creating a method and device in a traffic unit for cooperatively coordinating driving maneuvers of at least two motor vehicles, in which coordination is improved.

The technical problem is solved according to the invention by a method having the features of patent claim 1 and a device having the features of patent claim 10. Advantageous embodiments of the invention emerge from the subclaims.

For this purpose, a method is provided in a traffic unit for the cooperative coordination of driving maneuvers of at least two motor vehicles, wherein the at least two motor vehicles are traffic units and the traffic units communicate via a Car2Car interface, comprising the following steps: detecting a traffic situation in the vicinity of the at least two motor vehicles by at least one sensor, predicting a future traffic situation of the at least two motor vehicles on the basis of the environmental data detected by the at least one sensor by a forecasting device, checking based on the future traffic situation whether at least one trigger criterion exists by the forecasting device, and if a trigger criterion exists: sending a request to other traffic units in the vicinity by a planning device, and if the traffic unit is one of the at least two motor vehicles: transmitting properties of the motor vehicle after receiving the request; further receiving properties of other motor vehicles by the planning device, planning trajectories for the at least two motor vehicles in the planning device, wherein the planning of the trajectories is carried out on the basis of environmental data recorded by the at least one sensor and the properties of the at least two motor vehicles, transmitting the planned trajectories to the other traffic units in the environment, receiving planned trajectories (one trajectory per involved vehicle) from the other traffic units in the area, evaluating the planned trajectories by an evaluation device on the basis of an evaluation scale, transmitting the evaluations for the planned trajectories to the other traffic units, receiving evaluations for the planned trajectories from the other traffic units, selecting an optimal combination of planned trajectories for the at least two motor vehicles by the planning device on the basis of all evaluations and a predetermined selection criterion, carrying out the optimal combination of planned trajectories by the at least two motor vehicles, wherein the request comprises at least a target of the request, an area of interaction and the evaluation scale, and the properties comprise at least performance data and a unique identifier of the respective transmitting motor vehicle, and wherein the planned trajectories are evaluated by the evaluation device on the basis of individual criteria of the traffic unit, so that the planned trajectories of all traffic units are mutually evaluated.

Furthermore, a device is created in a traffic unit for cooperatively coordinating driving maneuvers of at least two motor vehicles, comprising at least one sensor for detecting an environment of the at least two motor vehicles, a Car2Car interface and a controller, wherein the controller comprises a forecasting device for predicting a future traffic situation of the at least two motor vehicles on the basis of environmental data detected by the at least one sensor and for checking a trigger criterion, a planning device for planning trajectories (one trajectory per participating vehicle) for the at least two motor vehicles and an evaluation device for evaluating the planned trajectories; and wherein the controller is designed in such a way that, if a trigger criterion is met, the planning device sends a request to other traffic units in the environment via the Car2Car interface and, if the traffic unit is one of the at least two motor vehicles: to transmit properties of the motor vehicle after receiving a request from another traffic unit by the planning device; further to receive properties of other motor vehicles by the planning device and to plan trajectories for the at least two motor vehicles in the planning device, wherein the planning of the trajectories is carried out on the basis of environmental data recorded by the at least one sensor and the properties of the at least two motor vehicles, then to transmit the planned trajectories to the other traffic units via the Car2Car interface by the planning device, and to receive planned trajectories of the other traffic units by the planning device via the Car2Car interface, to evaluate the planned trajectories by the evaluation device on the basis of a rating scale and then to transmit the ratings for the planned trajectories to the other traffic units via the Car2Car interface and to receive ratings for planned trajectories of other traffic units, and to select an optimal combination of the planned trajectories for the at least two motor vehicles on the basis of the ratings and a selection criterion and to initiate implementation of the optimal combination of planned trajectories by issuing a corresponding signal, wherein the request contains at least one target of the request, an area an interaction and the evaluation scale, the properties comprise at least performance data and a unique identifier of the transmitting motor vehicle, and wherein the evaluation device is designed to evaluate the planned trajectories on the basis of individual criteria of the traffic unit, so that the planned trajectories of all traffic units are mutually evaluated.

The core idea of the invention is that all traffic units mutually evaluate the trajectories they have planned. In this way, the trajectories planned by the individual traffic units can be evaluated from the perspective of each traffic unit, so that individual criteria of each individual traffic unit are taken into account.

In a preferred embodiment, each of the traffic units is assigned a voting weight, the voting weight determining how strongly the evaluation of a planned trajectory made by one of the traffic units is weighted when selecting the optimal combination, and the selection criterion comprising the voting weights of the traffic units. The voting weights of the individual traffic units can be the same or different. They can also be different for different traffic situations. This not only solves the problem of finding an optimal combination of planned trajectories, but also gives each traffic unit a say, which is taken into account when selecting an optimal combination of planned trajectories. This leads to an optimal, more flexible and fair coordination process between individual traffic units. This causes the individual traffic units to behave in an adapted manner, which in turn improves the overall traffic flow.

In one embodiment, it is provided that one of the at least two motor vehicles has a higher voting weight. This is advantageous if, for example, it is a special operations vehicle that enjoys priority in road traffic due to the Road Traffic Regulations (StVO).

In one embodiment, a triggering criterion is an impending collision between the at least two motor vehicles. For example, current trajectories of the at least two motor vehicles are predicted by the prediction device and analyzed for possible collisions in the future. If a collision is to be expected while maintaining the current trajectories, the invention reacts. A possible collision can, for example, be estimated or assessed over a period of time until the collision when motor vehicles are moving toward each other. To do this, the current distance between the two motor vehicles is divided by their relative speed to each other. Avoiding collisions increases the safety of all road users.

In a further embodiment, it is provided that the traffic unit is one of the at least two motor vehicles or an infrastructure facility. The method can thus be carried out both in a motor vehicle involved in a current traffic situation and in an infrastructure facility. Such an infrastructure facility is, for example, a traffic control system, a traffic light system or another facility that serves to detect or regulate traffic. The method is therefore flexible and can be used in a decentralized manner. The method can also be carried out in all traffic units in the area.

In a further embodiment, the voting weight includes a right of veto, whereby a planned trajectory that is rated with a veto will not be carried out in any case. This gives the traffic units the opportunity to completely reject planned trajectories that are disadvantageous or impossible from their point of view by preventing their implementation. This can be the case, for example, if a planned trajectory is rated differently by different traffic units, but is assessed by one traffic unit as too dangerous or technically impossible. The right of veto then allows this traffic unit to prevent the planned trajectory in any case.

In a further embodiment, it is provided that the infrastructure facility has a higher voting weight than the at least two motor vehicles. This is advantageous if the infrastructure facility can better oversee a traffic situation, for example because it has more sensors for detecting the surroundings or a geographical position that is better suited for detecting the surroundings. Access to further information, for example as part of a traffic control system, can also be a motivation for a higher voting weight.

In one embodiment, it is further provided that the infrastructure facility alone plans at least one trajectory for the at least two motor vehicles. This is advantageous if the traffic situation is very complex and can only be controlled (overviewed) by a central authority or if an overarching goal unknown to the at least two motor vehicles is to be pursued, for example if motor vehicles are to be evenly distributed over a changed road layout or across several lanes at a toll station. An overarching goal can also be, for example, a particularly efficient traffic flow.

In a further embodiment, it is provided that only one of the at least two motor vehicles plans at least one trajectory for the at least two motor vehicles. This is advantageous, for example, if a traffic flow has to be controlled centrally for a short time, for example if a special operations vehicle has to regulate traffic locally and at short notice.

In one embodiment, it is provided that the at least two motor vehicles can agree or not to the at least one planned trajectory transmitted, whereby the at least one planned trajectory is carried out or not depending on the result of the agreement. This enables a right of veto if, for example, a planned trajectory transmitted to a motor vehicle cannot be carried out under any circumstances. If approval is refused, a new trajectory is planned and transmitted by the infrastructure facility or the one motor vehicle.

• 1 eine schematische Darstellung einer Ausführungsform einer erfindungsgemäßen Vorrichtung zum kooperativen Abstimmen von Fahrmanövern von mindestens zwei Kraftfahrzeugen;
• 2 ein schematisches Ablaufdiagramm des Verfahrens;
• 3 eine schematische Darstellung einer Verkehrssituation umfassend drei Kraftfahrzeuge zur Erläuterung einer Ausgangssituation beim Abstimmen von Fahrmanövern;
• 4a eine schematische Darstellung einer möglichen Kombinationen aus geplanten Trajektorien für die drei Kraftfahrzeuge zur Lösung der in 3 gezeigten Verkehrssituation;
• 4b eine schematische Darstellung einer weiteren möglichen Kombinationen aus geplanten Trajektorien für die drei Kraftfahrzeuge zur Lösung der in 3 gezeigten Verkehrssituation;
• 4c eine schematische Darstellung einer weiteren möglichen Kombinationen aus geplanten Trajektorien für die drei Kraftfahrzeuge zur Lösung der in 3 gezeigten Verkehrssituation.

The invention is explained in more detail below using preferred embodiments with reference to the figures.

• 1 a schematic representation of an embodiment of a device according to the invention for cooperatively coordinating driving maneuvers of at least two motor vehicles;
• 2 a schematic flow diagram of the process;
• 3 a schematic representation of a traffic situation comprising three motor vehicles to explain an initial situation when coordinating driving maneuvers;
• 4a a schematic representation of a possible combination of planned trajectories for the three vehicles to solve the 3 shown traffic situation;
• 4b a schematic representation of another possible combination of planned trajectories for the three vehicles to solve the 3 shown traffic situation;
• 4c a schematic representation of another possible combination of planned trajectories for the three vehicles to solve the 3 shown traffic situation.

In 1 is a schematic representation of an embodiment of a device 1 according to the invention for cooperatively coordinating driving maneuvers of at least two motor vehicles. The device 1 is designed here in a motor vehicle 50. The device 1 comprises a sensor 2, a controller 3 and a car2car interface 4, which is based, for example, on the ITS G5 standard of the European Telecommunications Standards Institute. The controller 3 comprises a forecasting device 5, a planning device 6 and an evaluation device 7.

It is now assumed that there is a second motor vehicle in the vicinity of the motor vehicle 50. The sensor 2 detects a traffic situation in the vicinity of the motor vehicle 50. On the basis of the environmental data detected by the sensor 2, the forecasting device 5 predicts a future traffic situation, for example by extrapolating current trajectories of the motor vehicle 50 and the second motor vehicle into the future. The forecasting device 5 uses the predicted future traffic situation to check whether at least one trigger criterion 20 is present. A trigger criterion 20 here is an impending collision of the motor vehicle 50 with the second motor vehicle. If a collision is to be expected, the trigger criterion 20 is met and the planning device 6 sends a request 21 to the second motor vehicle via the Car2Car interface 4. The request 21 contains collision avoidance as a goal 22, an area 23 of interaction, for example the current environment and a future environment of the two motor vehicles and whether an interaction should take place longitudinally or laterally, and an evaluation scale 24, which defines, for example, an area and a unit of the evaluation scale 24.

In addition and/or after receiving a request from another traffic unit, the planning device 6 transmits properties 25 of the motor vehicle 50. The properties 25 include, for example, performance data 27 of the motor vehicle 50, for example a maximum acceleration, and a unique identifier 28 of the motor vehicle 50. The maximum acceleration can be calculated by the planning device 6, for example, from models for a drive train, a brake and a lateral guide, taking into account an engine map, a mass, a transmission, dead times, a material pairing and a pressure generation of the brake of the motor vehicle 50. In parallel, the planning device 6 receives properties 26 of the second motor vehicle via the Car2Car interface 4.

Based on the environmental data recorded by the sensor 2 and the properties 25, 26 of the two motor vehicles, the planning device 6 plans trajectories 30 for the motor vehicle 50 and the second motor vehicle. The planned trajectories 30 include, for example, driving maneuvers and paths, a respective unique identifier 28 of the motor vehicles and a start time for the planned trajectories 30. The planning device 6 transmits the planned trajectories 30 to the second motor vehicle via the Car2Car interface 4. At the same time, the planning device 6 receives planned trajectories 31 of the second motor vehicle via the Car2Car interface 4.

The planned trajectories 30, 31 are then evaluated by the evaluation device 7 according to the evaluation scale 24. Resulting evaluations 32 are then transmitted to the second motor vehicle, which in turn transmits evaluations 33 of the trajectories 30, 31 to the motor vehicle 50.

On the basis of all evaluations 32, 33 and a predetermined selection criterion 15, the planning device 6 selects an optimal combination of planned trajectories 30, 31. The selection criterion 15 is, for example, the highest sum of the individual evaluations of planned trajectories 30, 31. The selection criterion 15 includes the voting weight 40 of the first motor vehicle 50 and a voting weight 41 of the second motor vehicle. The voting weights 40, 41 were previously transferred, for example together with the evaluations 32, 33.

The optimal combination of planned trajectories 30, 31 is then carried out. For this purpose, the controller 3 outputs, for example, a signal 11 via an interface 10, wherein the signal 11 causes an actuator 9 of the motor vehicle 50 to carry out the planned trajectory of the optimal combination intended for the motor vehicle 50.

If problems arise when selecting the optimal combination, for example because several combinations of planned trajectories 30, 31 are assessed as equally optimal, a different criterion can be used to decide which of the optimal combinations is carried out. Here, for example, the identifications of the motor vehicles can be used to make a decision. For example, it is generally agreed that a combination of planned trajectories 30, 31 is carried out that was planned by the motor vehicle with the lowest identification 28. In principle, however, a decision can also be made according to a different criterion.

2 shows a schematic flow diagram of the method in a traffic unit for the cooperative coordination of driving maneuvers of at least two motor vehicles. In a first method step 101, the environment of the at least two motor vehicles is recorded by at least one sensor. In the next method step 102, a predicted future traffic situation is used to check whether at least one trigger criterion is met. If the trigger criterion is not met, the first method step 101 is repeated. If, however, the trigger criterion is met, the properties of the at least two motor vehicles are sent in the next step 103 after a request has been sent. On the basis of environmental data recorded by the at least one sensor and the properties of the at least two motor vehicles, trajectories for the at least two motor vehicles are then planned in a subsequent method step 104. All planned trajectories are rated by each traffic unit in the subsequent method step 105 on the basis of a common rating scale. The ratings of the planned trajectories are transmitted to the other traffic units. After evaluating the planned trajectories, an optimal combination of planned trajectories is selected 106, whereby each of the traffic units is assigned a voting right and the selection of the optimal combination of planned trajectories is carried out on the basis of the evaluations and a selection criterion. The selection criterion includes the voting rights of the traffic units. In the last process step 107, the planned trajectories of the optimal combination are carried out by the at least two motor vehicles. The process is then repeated. The process can be carried out both in an infrastructure facility and in the motor vehicles themselves.

3 shows a schematic representation of a traffic situation 60, which includes three motor vehicles 50, 51, 52 and an infrastructure facility 54 as traffic units 55. The traffic situation 60 shows an initial situation for explaining the method according to the invention for coordinating driving maneuvers of the motor vehicles 50, 51, 52. If nothing is changed in the traffic situation 60, a collision 14 between two motor vehicles 50, 51 is imminent.

Within the scope of the method according to the invention, for example, three possible combinations 70, 71, 72 of trajectories are planned. The three combinations 70, 71, 72 are shown schematically in the 4a to 4c shown. Each of the combinations 70, 71, 72 contains planned trajectories 30 for each of the motor vehicles 50, 51, 52. If the combinations 70, 71, 72 are planned, they are sent to all traffic units 55 in the area. The traffic units 55 then rate each of the combinations 70, 71, 72 on a rating scale previously agreed upon as part of the process and in turn send the ratings back. For example, the traffic units 55 then arrive at the following ratings: Motor vehicle 50 1. Combination 70 2. Combination 71 3. Combination 72 Rating | Motor vehicle 51 0 1. Combination 70 1 2. Combination 71 7 3. Combination 72 Motor vehicle assessment 52 5 1. Combination 70 7 2. Combination 71 1 3. Combination 72 Assessment of infrastructure facilities 54 1 1. Combination 70 3 2. Combination 71 Veto 3. Combination 72 Evaluation 4 0 1

Motor vehicles 50, 51, 52 can also veto combinations 70, 71, 72. A combination of planned trajectories 30 that has been evaluated with a veto is then case not carried out. Here, for example, the 3rd combination 72 of the motor vehicle 52 was evaluated with a veto. The planned trajectories 30 of the 3rd combination 72 are therefore not carried out under any circumstances.

A selection criterion is used to select one of the combinations 70, 71, 72. The selection criterion can, for example, be a sum of the ratings of the individual traffic units 55. This then gives the following overall result: 1. Combination 70 2. Combination 71 3. Combination 72 Total Total (2 x Infras.) 0+5+1+6 = 12 0+5+1+12 = 18 1+7+3+0 = 11 1+7+3+0 = 11 7+1+Veto+1 = Veto 7+1+Veto+2 = Veto

If the rating scale describes costs, for example, the second combination would be the best because the costs would be the lowest there. If, on the other hand, the rating scale describes a benefit, the first combination would be optimal. The third combination 72 is invalid in any case because there is a veto. If the voting rights of a transport unit are increased, shown here, for example, as the voting weight of infrastructure unit 54 is doubled, the result is different. If, for example, the rating scale describes a benefit again, the first combination would be optimal.

If the total of the evaluations for at least two combinations 70, 71, 72 is the same, then a further criterion can be used to select between these at least two combinations 70, 71, 72. Such a further criterion can be, for example, a unique identifier of the motor vehicles and/or traffic units, in which case the combination 70, 71, 72 is then used, which was suggested by the motor vehicle 50, 51, 52 or the traffic unit with the smallest or largest identifier, if the identifier consists of a unique sequence of ordinal numbers.

List of reference symbols

1

contraption

2

sensor

3

steering

4

Car2Car interface

5

Forecasting facility

6

Planning facility

7

Assessment facility

9

Actuators

10

interface

11

signal

14

collision

15

Selection criteria

20

Trigger criterion

21

Inquiry

22

Purpose of the request

23

Area of interaction

24

rating scale

25

Characteristics of the motor vehicle

26

Characteristics of the second motor vehicle

27

Performance data

28

Vehicle identification

30

planned trajectories of the motor vehicle

31

planned trajectories of the second vehicle

32

Vehicle reviews

33

Evaluations of the second motor vehicle

40

Voting weight of the motor vehicle

41

Voting weight of the second motor vehicle

50

Motor vehicle

51

Motor vehicle

52

Motor vehicle

53

Motor vehicle

54

Infrastructure facility

55

Traffic unit

60

Traffic situation

70

combination

71

combination

72

combination

101-107

Process steps

Claims (10)

Method in a traffic unit (55) for the cooperative coordination of driving maneuvers of at least two motor vehicles (50, 51, 52), wherein the at least two motor vehicles (50, 51, 52) are traffic units (55) and the traffic units (55) communicate via a Car2Car interface (4), comprising the following steps: detecting a traffic situation (60) in the vicinity of the at least two motor vehicles (50, 51, 52) by at least one sensor (2), predicting a future traffic situation of the at least two motor vehicles (50, 51, 52) on the basis of the environmental data detected by the at least one sensor (2) by a forecasting device (5), checking on the basis of the future traffic situation whether at least one trigger criterion (20) is present by the forecasting device (5), and if a trigger criterion (20) is present: sending a request (21) to other traffic units (55) in the vicinity by a planning device (6), and if the traffic unit (55) has one of the at least two motor vehicles (50, 51, 52): transmitting properties (25) of the motor vehicle (50) after receiving the request (21); further receiving properties (26) of other motor vehicles (51, 52) by the planning device (6), planning trajectories (30) for the at least two motor vehicles (50, 51, 52) in the planning device (6), wherein the planning of the trajectories (30) is carried out on the basis of environmental data recorded by the at least one sensor (2) and the properties (25, 26) of the at least two motor vehicles (50, 51, 52), transmitting the planned trajectories (30) to the other traffic units (55) in the environment, receiving planned trajectories (31) from the other traffic units (55) in the environment, evaluating the planned trajectories (30, 31) by an evaluation device (7) on the basis of an evaluation scale (24), transmitting the evaluations (32) for the planned trajectories (30, 31) to the other traffic units (55), receiving evaluations (33) for the planned trajectories (30, 31) from the other traffic units (55), selecting an optimal combination (70, 71, 72) of planned trajectories (30, 31) for the at least two motor vehicles (50, 51, 52) by the planning device (6) on the basis of all evaluations (32, 33) and a predetermined selection criterion (15), carrying out the optimal combination (70, 71, 72) of planned trajectories (30, 31) by the at least two motor vehicles (50, 51, 52), characterized in that the request (21) comprises at least one target (22) of the request, an area (23) of an interaction and the evaluation scale (24), and the properties (25, 26) comprise at least performance data (27) and a unique identifier (28) of the respective transmitting motor vehicle (50, 51, 52), and wherein the planned trajectories (30, 31) are evaluated by the evaluation device (7) on the basis of individual criteria of the traffic unit (55), so that the planned trajectories (30, 31) of all traffic units (55) are mutually evaluated. Procedure according to Claim 1 , characterized in that each of the traffic units (55) is assigned a voting weight (40, 41), wherein the voting weight (40, 41) determines how strongly the evaluation (32, 33) of planned trajectories (30, 31) made by one of the traffic units (55) is weighted when selecting the optimal combination (70, 71, 72), and wherein the selection criterion (15) comprises the voting weights (40, 41) of the traffic units (55). Procedure according to Claim 1 or 2 , characterized in that a triggering criterion (20) is an impending collision (14) between the at least two motor vehicles (50, 51, 52). Method according to one of the Claims 1 until 3 , characterized in that the traffic unit (55) is one of the at least two motor vehicles (50, 51, 52) and/or an infrastructure facility (54). Method according to one of the preceding claims, characterized in that the voting weight (40, 41) comprises a right of veto, whereby a planned trajectory (30, 31) evaluated with a veto is not carried out in any case. Method according to one of the Claims 4 or 5 , characterized in that the infrastructure facility (54) has a higher voting weight (40, 41) than the at least two motor vehicles (50, 51, 52). Procedure according to Claim 4 until 6 , characterized in that exclusively the infrastructure facility (54) plans at least one trajectory (30, 31) for the at least two motor vehicles (50, 51, 52). Procedure according to Claim 1 until 6 , characterized in that exclusively one of the at least two motor vehicles (50, 51, 52) plans at least one trajectory (30, 31) for the at least two motor vehicles (50, 51, 52). Procedure according to Claim 7 or 8th , characterized in that the at least two motor vehicles (50, 51, 52) can agree or not to the respectively transmitted at least one planned trajectory (30, 31), wherein the at least one planned trajectory (30, 31) is carried out or not depending on the result of the agreement. Device (1) in a traffic unit (55) for cooperatively coordinating driving maneuvers of at least two motor vehicles (50, 51, 52), comprising: at least one sensor (2) for detecting an environment of the at least two motor vehicles (50, 51, 52), a car2car interface (4) and a controller (3), wherein the controller (3) comprises a prognosis device (5) for predicting a future traffic situation of the at least two motor vehicles (50, 51, 52) on the basis of environmental data detected by the at least one sensor (2) and for checking a trigger criterion (20), a planning device (6) for planning trajectories (30, 31) for the at least two motor vehicles (50, 51, 52) and an evaluation device (7) for evaluating the planned trajectories (30, 31); and wherein the control (3) is designed such that, if a trigger criterion (20) is met, the planning device (6) sends a request (21) to other traffic units (55) in the surrounding area, and, if the traffic unit (55) is one of the at least two motor vehicles (50, 51, 52): to transmit properties (25) of the motor vehicle (50) after receiving a request (21) from another traffic unit (55) by the planning device (6); further to receive properties (26) of other motor vehicles (51, 52) by the planning device (6), and to plan trajectories (30) for the at least two motor vehicles (50, 51, 52) in the planning device (6), wherein the planning of the trajectories (30) is carried out on the basis of environmental data recorded by the at least one sensor (2) and the properties (25, 26) of the at least two motor vehicles (50, 51, 52), subsequently to transmit the planned trajectories (30, 31) to the other traffic units (55) via the Car2Car interface (4) by the planning device (6), and to receive planned trajectories (30, 31) of the other traffic units (55) via the Car2Car interface (4) by the planning device (6), the planned trajectories (30, 31) are each evaluated by the evaluation device (7) on the basis of an evaluation scale (24) and then transmit the evaluations (32) for the planned trajectories (30) to the other traffic units (55) via the Car2Car interface (4) and receive evaluations (33) for planned trajectories (31) of other traffic units (55), and select an optimal combination (70, 71, 72) from the planned trajectories (30, 31) for the at least two motor vehicles (50, 51, 52) on the basis of the evaluations (32, 33) and a selection criterion (15) by the planning device (6) and initiate implementation of the optimal combination (70, 71, 72) from planned trajectories (30, 31) by issuing a corresponding signal, characterized in that the request (21) comprises at least one target (22) of the request, an area (23) of an interaction and the evaluation scale (24), the properties (25, 26) at least Performance data (27) and a unique identifier (28) of the transmitting motor vehicle (50, 51, 52), and wherein the evaluation device (7) is designed to evaluate the planned trajectories (30, 31) on the basis of individual criteria of the traffic unit (55), so that the planned trajectories (30, 31) of all traffic units (55) are each mutually evaluated.

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