METHOD, COMPUTER PROGRAMME PRODUCT, CENTRAL CONTROL UNIT, AND CONTROL SYSTEM FOR CONTROLLING AT LEAST PARTIALLY AUTOMATED VEHICLES, SOME OF WHICH ARE INTENDING TO CHANGE LANES, IN A ROAD DANGER ZONE, IN PARTICULAR ROAD JUNCTIONS IN ROAD TRAFFIC

摘要

In order to control at least partially automated vehicles (FZ₁...FZ_n), some of which are intending to change lanes, in a road danger zone (FGB), in particular road junctions (KZ, KZ') in road traffic, in such a way that vehicles which are intending to change lanes can change lanes in the road danger zone in flowing traffic without stop/start interruptions, such as those caused e.g. by signalling equipment, preferably traffic lights, the invention proposes the following steps: a) at least one vehicle (FZ_FBW, FZ₂, FZ₇, FZ₁₀, FZ₁₇, FZ₃₀) initiating a lane change, in particular by turning left or right, and every other vehicle of the vehicles (FZ₁...FZ_n), on approaching the road danger zone (FGB, KZ, KZ'), surrender the power to control the dynamic driving tasks of the vehicle in order to pass through said zone; b) when the vehicles (FZ_FBW, FZ₁...FZ_n) have surrendered vehicle control power, a central control entity (STGE, STER, CPP, PZ, SP, PGM) generates a digital road danger zone twin (FGBZ), by means of which, as a result of the vehicles having surrendered vehicle control power, first vehicle movements of the vehicle preparing to change lane are automatically and dynamically controlled in a vehicle-coordinated and collision-free manner in anticipatory coordination with second road movements of collision-critical vehicles (FZ_kk, FZ₆, FZ₁₄, FZ₁₅, FZ₁₈, FZ₂₁, FZ₂₂, FZ₃₁) of the other vehicles, the road movements of which would intersect in an uncoordinated manner with the first vehicle movements in the road danger zone, in order to change lanes in the road danger zone.