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

摘要

A method for determining a collective maneuver of at least two vehicles includes receiving a state of a first vehicle and a state of at least one further vehicle in an environment of an ego vehicle, and determining 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, the current formation comprising a relative arrangement of the first vehicle and of the at least one further vehicle with respect to a roadway. The method also includes determining a set of collective maneuvers on the basis of the current formation, where each collective maneuver of the set of collective maneuvers comprising a sequence of formations from the current formation to an end formation. A trajectory for the first vehicle and a trajectory for the at least one further vehicle is calculated for a collective maneuver from the set of collective maneuvers, and the collective maneuver from the set of collective maneuvers is determined based on the calculated trajectories of the collective maneuver from the set of collective maneuvers and a motion of the first vehicle and of the at least one further vehicle sensed by means of a sensor system of the ego vehicle.