EP3580737B1 - Method for coordinating the traffic of a plurality of motor vehicles within a predetermined infrastructure region and server device, motor vehicle and system - Google Patents

Description

The invention relates to a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area, for example a parking garage. The method can be carried out by a central server device. The invention also includes the server device, a motor vehicle that can be coordinated with another motor vehicle by the server device, and a system comprising the server device and at least one motor vehicle.

For a parking garage, it can be provided that the driver himself does not have to maneuver his motor vehicle into a parking space in the parking garage, but can get out in front of the parking garage or at its entrance and the motor vehicle is guided or maneuvered fully automatically in the parking garage to a free parking space by an autopilot becomes. This functionality is also known as "Automatic Valet Parking" (AVP) and is, for example, in the DE 10 2015 204 861 A1 described. It is also described therein that such a fully automatically guided motor vehicle can have problems with its sensor technology because, for example, radar echoes or shadows make it impossible to look into an area of the parking garage. So that a fully automatically guided motor vehicle can adapt its planning to the driving trajectory here, it is provided that a server device in the parking garage informs the autopilot of the motor vehicle about such problematic areas. One problem that cannot be solved in this way are problematic areas that arise dynamically, namely through the traffic of several fully automated motor vehicles and / or through pedestrians or cyclists moving in the parking garage.

From the DE 10 2014 224 124 A1 it is known for this purpose that a server device can also take over the remote control of a vehicle in order to guide it or to give instructions to its autopilot. Such a remote control of a fully automatically driven motor vehicle results in the problem that if the motor vehicle is damaged, the question of guilt is difficult to clarify.

From the DE 10 2013 207 231 A1 In connection with the coordination of motor vehicles, it is known that a server device statistically records typical path courses of motor vehicles and then provides motor vehicles with a statistical description of these typical path courses so that the motor vehicles can adapt to possible vehicle movements of other motor vehicles. Such a statistical description has the disadvantage that it only describes a current driving situation statistically.

From the DE 10 2015 219 467 A1 a method for operating a central server is known which sends a control card to motor vehicles in which the agreed right of way rules valid for the motor vehicles are contained so that the motor vehicles can pass each other without collision. In the method, individual vehicles can first send the traffic situation recorded by the vehicle's own sensor system as their own control card to a central server device, which then determines whether one of the vehicles has incorrectly recorded the traffic situation and therefore the control cards need to be coordinated.

From the DE 10 2012 021 282 A1 A method for coordinating the operation of fully automated motor vehicles is known, the motor vehicles sending their planned driving trajectory to a central device which checks the trajectories for collisions and, if a collision is detected, sends an adapted trajectory to at least one motor vehicle, which then sends them adapted trajectory to resolve the conflict. The execution of the trajectories can be further monitored so that deviations from the trajectories that lead to a solution to the conflict can be corrected.

From the DE102015002405 A method for coordinating the traffic of motor vehicles in a parking area is known, the parking area being assigned a central computing device and sensors that provide sensor data to the central computing device and monitoring the parking area, and a map data set of the parking area is stored on the central computing device. The invention is based on the object of coordinating the traffic of motor vehicles within a predetermined infrastructure area. The object is achieved by the subjects of the independent claims. Advantageous developments of the invention are described by the dependent claims, the following description and the figures.

The invention provides a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area. The method is carried out by a central server device. The infrastructure area can be, for example, a multi-storey car park or a parking lot area with several parking spaces. The server device repeatedly receives a respective current driving status and a respective current driving intention of the motor vehicle from the motor vehicles. The driving status can include, for example, the current position of the motor vehicle in the infrastructure area and / or a current driving speed of the motor vehicle (amount and / or direction). The driving intention can for example be the specification of a planned driving trajectory or driving route and / or a planned driving destination. The driving intention can be calculated, for example, by an autopilot of the motor vehicle or (in the case of a driver-guided motor vehicle) by a navigation device of the motor vehicle or a statistical route analysis. The server device then determines a current coordination result for each of the motor vehicles, which indicates where the motor vehicle, based on its current driving status, is prohibited from driving its driving intention or generally driving because, according to a predetermined traffic regulation, another of the motor vehicles based on its respective driving status and / or whose respective driving intention deserves right of way or the server device would first like to let one of the other motor vehicles pass. The traffic regulation can be specified by law or house rules and / or by traffic planning of the server device. Depending on the respective coordination result, a respective current, permitted behavior is determined for each of the motor vehicles. The permitted behavior describes where the respective motor vehicle may go anywhere within the infrastructure area. This is not a matter of specifying a driving trajectory, but of specifying all those driving surfaces or driving alternatives that the motor vehicle may use or drive along in accordance with the traffic regulation. The motor vehicle thus has the choice of which driving trajectory it travels. Then the motor vehicles each determined behavior currently permitted in the infrastructure area for the respective motor vehicle is signaled as a coordination message. This coordination message is used to ensure that each of the motor vehicles independently adapts its driving intention to the permitted behavior. In other words, by means of the coordination message, each motor vehicle is only informed which driving options or free spaces or drivable areas are currently available to it in the infrastructure area. How the motor vehicle reacts to this can be determined by adapting or maintaining its driving intention.

The invention has the advantage that moving motor vehicles, that is to say the traffic of several motor vehicles, is coordinated in the infrastructure area by a central server device without the responsibility for driving the individual motor vehicles being transferred to the server device. The server device only signals which planning freedom is available to the motor vehicles for the independent determination of driving intentions, for example driving routes or driving trajectories, the behavior patterns permitted in each case for the motor vehicles being coordinated by the server device. Each vehicle can thus plan freely within the behavior allowed for it, without there being a risk of collision with one of the other motor vehicles.

The method described so far relies on the motor vehicles correctly determining their current driving status independently. But not all malfunctions or misinterpretations can be recognized by a fully automated vehicle. According to the invention, therefore, the server device of at least one of the motor vehicles detects its current driving status, ie for example its position and / or driving speed, by means of a monitoring sensor system of the infrastructure area, additionally by the server device itself. The monitoring sensor system is therefore external to the vehicle, i.e. not part of the motor vehicle. The server device uses sensor data from the monitoring sensor system to check whether a predetermined security problem is present, and if a security problem is recognized it triggers a predetermined protective measure. A malfunction in the vehicle sensor system of a motor vehicle can therefore be compensated for or this can be counteracted by means of the protective measure. The monitoring sensor system can, for example, be a camera and / or a radar and / or a light barrier and / or a lidar and / or an ultrasonic sensor.

The server device recognizes as a safety problem that the current driving status received from the motor vehicle and the self-recorded driving status of the motor vehicle have a deviation that is greater than a predetermined minimum value. In other words, the server device detects a defect and / or a measurement fault in the vehicle sensor system of the motor vehicle. Here, by setting the minimum value, a tolerance can also be provided in order to avoid a false alarm or an incorrect triggering of the protective measure.

The invention also includes advantageous developments, the features of which result in additional advantages.

In order to signal the permitted behavior to a motor vehicle, the coordination message is preferably used to signal at least one area that is currently freely accessible by the motor vehicle or an area that is freely accessible by the motor vehicle. The motor vehicle can then independently plan a driving trajectory within this freely drivable area. A freely drivable area is therefore a sub-area or segment or part of the infrastructure area within which several possible driving trajectories can be defined or planned. This has the advantage that the motor vehicle can independently carry out the trajectory planning. The coordination message can additionally or alternatively also signal at least one area or area that is blocked for the motor vehicle. The motor vehicle is then informed that during the trajectory planning it must place or define its planned travel trajectory around or past this blocked area.

According to the invention, the server device and at least one of the motor vehicles each use a shared digital map of the surroundings, a copy of the digital map of the surroundings being provided in the server device and in the motor vehicle, or the server device and the motor vehicle accessing a common representation of the map of the surroundings. Said coordination message to the motor vehicle then contains at least one reference to the map of the surroundings to describe the permitted behavior. This allows the coordination message to be provided with a small volume of data. This is because the description of the environment is already available in the environment map, so that the coordination message only has to provide information, for example, a freely drivable area and / or an indication of a blocked area with reference to the environment map, by means of the reference. For example, a number or a coordinate or an identification number of a respective area can be specified.

This is carried out particularly efficiently by dividing at least part of the infrastructure area, that is to say a sub-area or the entire infrastructure area, into area segments in order to determine the currently permitted behavior. Such a surface segment has a size in a range from 0.5 m ² to 2 m ² . The server device then sets a respective passability status for each area segment. The navigability status is set depending on the current coordination result. The coordination result indicates in the manner described where there is a prohibition for a motor vehicle because another motor vehicle, for example, has right of way and is planning to drive along there. One of the two values "Driving allowed" and "Driving prohibited" is set as the drivability status for each area segment. The server device then uses the coordination message to signal a currently set drivability status of at least one of the surface segments to the respective motor vehicle. For example, the drivability status can be specified for all those surface segments over which the motor vehicle plans to drive in accordance with its driving intention. In addition, in order to plan an alternative route for the motor vehicle, it is also possible to specify the drivability status of adjacent surface segments.

In this way, for example, an imminent collision can be avoided by the server device. For this purpose, the server device predicts a respective movement of at least one of the motor vehicles on the basis of its current driving status by means of a movement model. The movement model can also take into account the driving intention signaled by the motor vehicle. The movement model can also take into account a mass inertia of the motor vehicle, for example, in order to determine, for example, a braking distance or a required minimum curve radius determine. It is then recognized as a security problem that due to the predicted movement, a collision with a traffic object is imminent, for example with another of the motor vehicles or with a stationary object such as a pillar or a street sign or a guardrail, or with a pedestrian or a cyclist. The protective measure can then be triggered here.

The protective measure includes in particular that an emergency stop command is sent to at least one of the motor vehicles. The motor vehicle then stops in response to the emergency stop command. Thus, within the infrastructure area or only within a sub-region of the infrastructure area, the traffic or some or one of the motor vehicles can be stopped. For this purpose, an acute request for an emergency stop is sent to every motor vehicle in the region and / or motor vehicle approaching the region. Such an emergency stop command can also be provided for other applications. For example, the server device can send out the emergency stop command if, for example, a fire alarm is triggered in the infrastructure area or an ambulance is to drive into the infrastructure area.

The respective driving status and the respective driving intention can be transmitted from the motor vehicles, for example by means of a radio link, which can be provided on the basis of WLAN (Wireless Local Area Network) and / or a cellular connection, for example LTE (Long Term Evolution). The server device must now be able to assign a driving status received via such a radio link to a motor vehicle, which is detected in sensor data of the monitoring sensor system. This can be done, for example, as follows. A respective vehicle identification data of the motor vehicle is received from at least one of the motor vehicles at least once together with the driving status and / or the driving intention. Vehicle identification information can for example comprise a character string and / or a number. It can, for example, be the vehicle identification number of the motor vehicle (VIN - Vehicle Identification Number). At least one of the motor vehicles is then detected in sensor data from the monitoring sensor system. For example, a motor vehicle can be identified and classified in image data from a camera using an algorithm for object recognition. The question now is which vehicle identification information this motor vehicle detected in the sensor data has or has. To this end, the server device can send a request signal address it to a received vehicle identification information and transmit it to the motor vehicles in order to carry out a predetermined identification action. It therefore requests that motor vehicle which has or has the vehicle identification information to carry out the predetermined identification action. The detection action can consist, for example, in the motor vehicle driving a predetermined maneuver and / or activating an exterior lighting device according to a predetermined pattern, for example switching the daytime running lights on and / or off for a predetermined period of time. In the sensor data, the server device then recognizes which motor vehicle detected therein carries out the recognition action. In other words, the sensor data are used to identify which motor vehicle is responding to the request signal. The server device then assigns the vehicle identification information to which the request signal was addressed to the motor vehicle which is carrying out the identification action. In this way, a driving status received via radio can be assigned to a motor vehicle detected in sensor data from the monitoring sensor system.

So far, only the coordination of the motor vehicles has been described. When determining the coordination result, however, at least one other road user (for example a third-party vehicle that does not report its driving status to the server device and / or a pedestrian and / or a cyclist) is also taken into account by determining a respective expected trajectory of the at least one road user and this is then compared with the driving intention of the respective motor vehicle for which the coordination result is to be determined. The monitoring sensor system can be used to determine the trajectory and then a road user identified therein can be classified, for example recognized as a third-party vehicle or pedestrian or cyclist, and the trajectory of the identified road user can then be predicted using a motion model for the identified object class. A movement model for a pedestrian can, for example, simulate the kinematics or dynamics of a pedestrian and in this case be initialized with movement data that are determined using the sensor data of the monitoring sensor system. The same applies to a cyclist and a third-party vehicle.

In order to be able to carry out the method according to the invention in the infrastructure area, the invention provides a server device for coordination a traffic of several motor vehicles provided. The server device has a processor device which is set up to carry out an embodiment of the method according to the invention. For this purpose, the processor device can have at least one microprocessor and / or at least one microcontroller. The processor device can have a program code which is set up to carry out the embodiment of the method according to the invention when it is executed by the processor device. The program code can be stored in a data memory of the processor device. The server device can be provided, for example, as a computer or a computer network. In order to communicate with the motor vehicles, the server device can have a communication device which, for example, can have a WLAN router and / or a cellular radio module.

The invention also provides a motor vehicle that can be operated in the infrastructure area and can be coordinated by the server device. The motor vehicle has an autopilot device for fully automatic guidance (longitudinal guidance and lateral guidance) or maneuvering of the motor vehicle. In order to coordinate the autopilot with the traffic in the infrastructure area, a communication device is provided which is set up to send a current driving status and a driving intention planned by the autopilot device (for example a driving route or a driving trajectory) to the server device and at least one coordination message from the To receive server device. A behavior currently permitted for the motor vehicle in the infrastructure area is signaled in the coordination message. This permitted behavior does not specify a driving trajectory, but rather the entirety of the driving options or selection options available to the motor vehicle, that is to say a large number of possible driving trajectories. The autopilot device can then independently plan a new driving intention on the basis of the permitted behavior signaled by the coordination message. For example, the permitted behavior can specify at least one area within which the motor vehicle can be freely guided by the autopilot device. For this area, the autopilot device then plans a driving trajectory for driving through or driving over the area if the original driving intention cannot be carried out, that is, it is excluded from the permitted behavior.

The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger vehicle or truck.

A development of the motor vehicle according to the invention provides that the autopilot device stops the motor vehicle if an emergency stop command is received from the server device.

By combining the server device according to the invention with motor vehicles of the type described, a system results which is also part of the invention.

An exemplary embodiment of the invention is described below. To this end, the single figure (FIG.) Shows a schematic representation of an embodiment of the system according to the invention.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another, which also develop the invention independently of one another and are therefore to be regarded as part of the invention individually or in a combination other than the one shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

The figure shows a system 10 with a server device 11 and motor vehicles 12, 13. The motor vehicles 12, 13 drive in an infrastructure area 14, which can be, for example, a parking garage or a parking lot. The server device 11 can coordinate the traffic or the driving style of the motor vehicles 12, 13. The server device 11 can be formed, for example, by a computer or a network of computers that can be installed in the infrastructure area 14. The server device 11 can have a communication device 15 and a processor device 16. The communication device 15 can be set up to operate a respective radio link 17, 18 to a respective corresponding communication device 19 of the motor vehicles 12, 13. The communication device 15 can include, for example, a WLAN router and / or a cellular module. The communication devices 19 of the motor vehicles 12, 13 can accordingly also include a WLAN router and / or a cellular module.

The processor device 16 can provide a traffic coordination 20, which can be formed for the processor device 16, for example, on the basis of a program code.

The motor vehicles 12, 13 can each be guided, for example, in a fully automated manner by a respective autopilot or an autopilot device 21 in the infrastructure area 14. Each autopilot device 21 can transmit or send out a current driving status 22 and a driving intention 23 to the server device 11 via the respective communication connection 17, 18. The coordination device 20 can determine, on the basis of the respective driving status 22 of each motor vehicle 12, 13 and the driving intention 23 of each motor vehicle 12, 13, how the motor vehicles 12, 13 move in the infrastructure area 14. The driving intention 23 can, for example, represent a respective driving trajectory 24, 25 planned by the autopilot device 21 of the respective motor vehicle 12, 13. In the example illustrated, it is shown that the travel trajectories 24, 25 of the motor vehicle 12 on the one hand and the motor vehicles 13 on the other hand intersect. This would lead to a collision if there is no coordination. For the infrastructure area 14, a traffic regulation 26 can apply, which can for example specify which of the motor vehicles 12, 13 has right of way in the case described. The coordination for the motor vehicle 12 is described below. The coordination device 20 can signal a coordination message 26 for the motor vehicle 12 on the basis of a coordination result determined on the basis of the traffic control 26 to the motor vehicle 12.

For this purpose, for example, the infrastructure area 14 can be divided into surface segments 28, 28 ', of which only a few are provided with a reference number in the figure for the sake of clarity. A surface segment 28, 28 'can, for example, be a rectangular area or a rectangular area. Those surface segments 28 ′ along which or on which the motor vehicles 13 will drive and which are therefore not allowed to be driven on by the motor vehicle 12 can, according to the coordination message 27 for the motor vehicle 12, have a drivability status "Driving prohibited". In the figure, this is indicated by hatching the respective surface segment 28 ' illustrated. Those surface segments 28 which the motor vehicle 12 is allowed to drive on can have a passability status “Drive on allowed” for the motor vehicle 12. The sum of the surface segments 28 marked or set with the drivability status "Driving allowed" represents the permitted behavior for the motor vehicle 12. The content of the coordination message 27 for the motor vehicle 12 is shown. The coordination messages for the other motor vehicles 13 look different, of course these signal the right of way for the motor vehicles 13 with respect to the motor vehicle 12.

On the basis of the coordination message 27, the autopilot device 21 can reschedule the planned route 24 and plan and drive an alternative, modified route 24 'on freely drivable surface segments 28.

The server device 14 can determine sensor data 30 by means of a monitoring sensor system 29 independently of a respective vehicle-specific sensor system of the motor vehicles 12, 13, by means of which a respective current driving status of the motor vehicles 12, 13 can be determined.

Furthermore, the server device 11 can also, for example, send an emergency stop command 31 to the motor vehicles 12, 13, by means of which the autopilot devices 21 of the motor vehicles 12, 13 are controlled to stop. In contrast to the free planning of an alternative driving route 24 ′ by the autopilot devices 21 themselves, this is an external control of the autopilot devices 21 by the server device 11.

In general, an infrastructure system of an infrastructure area is thus coupled with a monitoring solution. A separation of coordinative and safety-critical commands is mapped on different levels because the server device 11 is only coordinated and the actual control of the motor vehicles 12, 13 is still left to their autopilot device.

1. 1) Ein Fahrzeug steht in einem Dialog mit dem durch die Servervorrichtung gebildeten Zentralsystem, indem es seine Fahrintention (z.B. Fahrtroute) und seinen Fahrstatus (z.B. Position und Geschwindigkeit) mitteilt und umgekehrt eine vom Zentralsystem verantwortete Aussage zu aktuell erlaubten Verhaltensweisen (z.B. frei befahrbaren Zonen oder Flächensegmenten 28 innerhalb des Erfassungsbereichs). Dazu können sich Zentralsystem und Fahrzeug einer gemeinsamen a-priori-Informationsbasis (z.B. einer digitalen Karte) bedienen, um die Bezeichnung von Bereichen und Elementen innerhalb der Infrastruktur beiderseits auflösen zu können.
2. 2) Bei einem Sicherheitsproblem, z.B. in Situationen unmittelbarer Gefährdung, kann als Schutzmaßnahme anstelle dieser Koordinationsmitteilungen eine akute Aufforderung zum Nothalt seitens des Zentralsystems an ein oder mehrere Fahrzeuge gesendet werden.
3. 3) Das Zentralsystem vergleicht empfangene Statusnachrichten der Teilnehmer mit seinen eigenen Erkenntnissen aus dem Überwachungssystem, d.h. der Überwachungssensorik. Damit können Abweichungen außerhalb bestimmter Toleranzen (z.B. in Position oder Geschwindigkeit) festgestellt werden.

The information about moving objects, ie the motor vehicle and optionally at least one other road user, is used as the basis for three elementary coordination and security processes:

1. 1) A vehicle is in a dialogue with the central system formed by the server device by communicating its driving intention (e.g. route) and its driving status (e.g. position and speed) and, conversely, a statement on currently permitted behavior (e.g. freely passable zones) for which the central system is responsible or surface segments 28 within the detection area). For this purpose, the central system and vehicle can use a common a priori information base (e.g. a digital map) in order to be able to resolve the designation of areas and elements within the infrastructure on both sides.
2. 2) In the event of a safety problem, eg in situations of immediate danger, instead of these coordination messages, the central system can send an acute request for an emergency stop to one or more vehicles as a protective measure.
3. 3) The central system compares received status messages from the participants with its own findings from the monitoring system, ie the monitoring sensors. This allows deviations outside of certain tolerances (eg in position or speed) to be determined.

The operation of infrastructure areas with automated vehicles is also possible without manual supervision by personnel. A clear position of responsibility with comprehensible actions on the part of the central system and the vehicle is created. By comparing the vehicle and monitoring system views, a faulty vehicle can be stopped and excluded from automated driving for the time being.

A preferred technical implementation provides the following.

Before fully automatic driving is activated, a vehicle connects to an existing central system via a communication interface of the communication device 15 (for example radio technology such as pWLAN or LTE). This records all moving objects within its local limits (detection area) via a connected monitoring sensor system (e.g. cameras) and can track or track their movements and use classification and movement models to forecast them into the future. Between the two entities (vehicle and central system), information is exchanged on both sides via a protocol, which in turn can refer to both known a priori information (eg from a digital map). The vehicle gives its intention to the central system in the form of the planned route. In addition, status data is repeatedly sent to the central system, including the position and speed of the vehicle.

The central system contains a logic 31 which compares the information from the monitoring sensors with the intention and status reports of the vehicles and generates behavior specifications and commands for an emergency stop.

As a rule, the position of foreign objects in relation to a certain automated vehicle, the state of infrastructure elements (e.g. barriers) and the intention of other automated vehicles are used to calculate areas in which the vehicle in question can move safely or which should be avoided. The geometric information and the drivability status of these areas (area segments) are communicated to the vehicle either directly or as a reference to elements of a common knowledge base (e.g. a priori map) via the communication link 17. The vehicle function contains algorithms that use the information from the central system to implement correct vehicle behavior (e.g. within the limits declared as safe).

If an impending collision is detected via the movement data of the detected objects or if an emergency situation that is otherwise recognizable by the central system occurs (e.g. failure of subsystems such as monitoring sensors), a dedicated emergency stop command is sent to one or more vehicles for communication, which has a higher priority in dispatch and processing can be treated and implemented directly in the vehicle without the need for further interpretation.

Furthermore, the self-status reports of vehicles in the central system are continuously compared with the object recognition from the monitoring sensors. Since an automated vehicle is also recognized there as a moving object, a correct assignment can be made through tracking and suitable initialization when entering the infrastructure of communication participants and their detection in the monitoring system are ensured (for example by actions requested by means of request signal 32, which can be traced by the monitoring sensors). If the state (e.g. position or speed) of an automated vehicle detected by the monitoring system falls outside of a defined tolerance to its own status messages, this can be detected and the central system has the option of special treatment (e.g. emergency stop of the corresponding vehicle and possibly other vehicles in its vicinity) to avert potential damage caused by faulty automated vehicles to other road users.

Overall, the examples show how vehicles piloted by the invention can be coordinated in an active infrastructure area.

Claims (6)

1. Method for coordinating traffic involving several motor vehicles (12, 13) within a predetermined infrastructure area (14) by a central server device (11), whereby the central server device (11):

   - repeatedly receives a respective current driving status (22) and a respective current driving intention (23) of the motor vehicle (12, 13) from the motor vehicles (12, 13) and

   - for each of the motor vehicles (12, 13), a current coordination result is determined which indicates where the motor vehicle (12, 13) is prohibited, based on its current driving status (22) its driving intention (23) according to a predetermined traffic control (26) on the basis of a respective driving status (22) and/or a respective driving intention (23) of at least one other of the motor vehicles (12, 13) and, depending on the coordination result, a respective current permitted behaviour is determined for each of the motor vehicles (12, 13), and

   - the respectively determined behaviour currently permitted for the respective motor vehicle (12, 13) in the infrastructure area (14) is signalled to the motor vehicles (12, 13) as a coordination message (27) for independent adjustment of its driving intention (23), whereby

   - the server device (11) additionally detects the current driving status (22) of at least one of the motor vehicles (12, 13), by means of a monitoring sensor system (29) of the infrastructure area (14) external to the vehicle

   characterised in that

   - the server device (11) uses a shared digital map of the surroundings with at least one of the motor vehicles (12, 13), in which a copy of the digital map of the surroundings is provided in the server device (11) and in the motor vehicle (12, 13) or the server device (11), and the motor vehicle (12, 13) accesses a common representation of the map of the surroundings, and

   - the coordination message (27) for describing the permitted behaviour contains at least one reference to the map of the surroundings, whereby the permitted behaviour is signalled in each case by means of the coordination message (27) to the motor vehicle (12, 13) in which at least one area (28) currently freely accessible by the motor vehicle (12, 13) and/or at least one area (28') prohibited to the motor vehicle is signalled and

   to determine the currently permitted behaviour, at least part of the infrastructure area (14) is divided into surface segments (28, 28'), each of which has a size in a range from 0.5 m² to 2 m²,
   and the server device (11) sets a respective drivability status for each area segment (28, 28') as a function of the current coordination result, to one of the two values: "Driving permitted" and "Driving prohibited", and by means of the coordination message (27) signals a currently set drivability status of at least one of the surface segments (28, 28') to the respective motor vehicle (12, 13), so that based on the coordination message (27), an autopilot device (21) of the respective motor vehicle (12, 13) independently reschedules a planned route (24) and plans an alternative, modified route (24') on freely drivable surface segments (28) and drives on it,
   and that
   the server device (11) checks whether there is a predetermined safety issue and, if a safety issue is detected, triggers a predetermined protective measure, whereby the server device (11) recognises as a safety problem that the current driving status (22) received from the motor vehicle (12, 13) and the self-recorded driving status of the motor vehicle (12, 13) shows a deviation that is greater than a predetermined minimum value, whereby a malfunction in the vehicle sensor system of the motor vehicle (12, 13) is compensated or counteracted by means of the protective measure.
2. The method according to claim 1, whereby the server device (11) predicts a respective movement of at least one of the motor vehicles (12, 13) based on its current driving status (22) by means of a movement model and, as a safety issue, detects an imminent collision with a traffic object based on the predicted movement.
3. Method according to one of the preceding claims, whereby the protective measure comprises that an emergency stop command (31) is sent to at least one of the motor vehicles (12, 13).
4. Method according to one of the preceding claims, whereby the server device (11)

   - receives the respective vehicle identification information of the motor vehicle (12, 13) from at least one of the motor vehicles (12, 13) in each case at least once together with the driving status (22) and/or the driving intention (23) and

   - at least one of the motor vehicles (12, 13) is detected in sensor data (30) of the monitoring sensor system (29) and

   - a request signal (32) for carrying out a predetermined identification action is addressed to a receiving vehicle identification information and transmitted to the motor vehicles (12, 13) and

   - recognises in the sensor data (30) which motor vehicle (12, 13) detected therein is performing the identification action, and assigns the vehicle identification information to the motor vehicle (12, 13) executing the identification action.
5. Method according to one of the preceding claims, whereby at least one further road user is taken into account when determining the coordination result, in that a respective probable trajectory of the at least one road user is determined and compared with the driving intention (23) of the respective motor vehicle (12, 13).
6. Server device (11) for coordinating traffic involving several motor vehicles (12, 13) within a predetermined infrastructure area (14), whereby the server device (11) has a processor device (16) which is set up to carry out a method according to one of the preceding claims.

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