METHOD FOR CONTROLLING A COMMUNICATION DEVICE, COMMUNICATION DEVICE AND VEHICLE HAVING COMMUNICATION DEVICE
A method for controlling a communication device of a vehicle driving, preferably in an automated or semi-automated manner, in a convoy with at least one further vehicle, wherein the vehicle is configured to transmit and receive a maneuver coordination message and a collective perception message, wherein the maneuver coordination message contains information about planned driving maneuvers for the coordination of driving maneuvers and the collective perception message contains information about the vehicle and environmental information acquired with the environmental sensors of the vehicle checking whether another vehicle transmitting a collective perception message is driving immediately ahead of or following the vehicle, and transmitting the collective perception message dependent on the check of whether at least one other vehicle transmitting a collective perception message is driving ahead of or following the vehicle. The vehicle may comprise the communication device controlled by such a method.
1 . A method for controlling a communication device of a vehicle driving in a convoy with at least one further vehicle, wherein the vehicle is configured to transmit and receive a maneuver coordination message and a collective perception message wherein the maneuver coordination message contains information for coordination of driving maneuvers and the collective perception message contains information about the vehicle as well as environmental information acquired with environmental sensors of the vehicle comprising:
checking whether another vehicle that transmits a collective perception message is driving immediately ahead of or following the vehicle, and
transmitting the collective perception message dependent on the check of whether at least one other vehicle that transmits a collective perception message is driving ahead of or following the vehicle.
2 . The method as claimed in claim 1 , wherein transmission rate of the collective perception message is reduced when another vehicle that transmits a collective perception message is driving ahead of the vehicle.
3 . The method as claimed in claim 1 , wherein transmission of the maneuver coordination message is effected dependent on the check of whether another vehicle that transmits a matching maneuver coordination message is driving ahead of or following the vehicle.
4 . The method as claimed in claim 3 , wherein, when it is recognized that at least one other vehicle that transmits a maneuver coordination message is driving ahead of or following the vehicle, the maneuver coordination message of the at least one other vehicle is checked and transmission of the maneuver coordination message is effected dependent on whether the information about planned driving maneuvers that is contained in the maneuver coordination message matches the planned driving maneuvers of the vehicle at least in part.
5 . The method as claimed in claim 3 , wherein transmission rate of the maneuver coordination message is at least reduced when another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of the vehicle.
6 . The method as claimed in claim 3 , wherein transmission of the maneuver coordination message is suspended when another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of the vehicle and another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is following.
7 . The method as claimed in claim 1 , wherein the check of whether at least one other vehicle that transmits a collective perception message or a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of or following the vehicle comprises a distance measurement, wherein transmission rate of the collective perception message or of the maneuver coordination message is reduced only when the distance of the at least one other vehicle that transmits a collective perception message or a maneuver coordination message with matching information about planned driving maneuvers is at least below a threshold value.
8 . A communication device for a vehicle for transmitting and receiving a collective perception message and a maneuver coordination message wherein the collective perception message contains information about the vehicle as well as environmental information acquired with the environmental sensors of the vehicle and wherein the maneuver coordination message contains information for the coordination of driving maneuvers, wherein transmission of the collective perception message or of the maneuver coordination message is effected by a method as claimed in claim 1 .
9 . A vehicle having a communication device for transmitting and receiving a collective perception message and a maneuver coordination message, wherein the collective perception message contains information about the vehicle as well as environmental information acquired with the environmental sensors of the vehicle, and wherein the maneuver coordination message contains information for the coordination of driving maneuvers, wherein transmission of the collective perception message or of the maneuver coordination message is effected by a method as claimed in claim 1 .
10 . The method for controlling a communication device of a vehicle as claimed in claim 1 wherein the vehicle is driving in an automated or semi-automated manner.
11 . The method as claimed in claim 2 , wherein transmission of the maneuver coordination message is effected dependent on the check of whether another vehicle that transmits a matching maneuver coordination message is driving ahead of or following the vehicle.
12 . The method as claimed in claim 11 , wherein, when it is recognized that at least one other vehicle that transmits a maneuver coordination message is driving ahead of or following the vehicle, the maneuver coordination message of the at least one other vehicle is checked and transmission of the maneuver coordination message is effected dependent on whether the information about planned driving maneuvers that is contained in the maneuver coordination message matches the planned driving maneuvers of the vehicle at least in part.
13 . The method as claimed in claim 11 , wherein the transmission rate of the maneuver coordination message is at least reduced when another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of the vehicle.
14 . The method as claimed in claim 11 , wherein transmission of the maneuver coordination message is suspended when another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of the vehicle, and another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is following.
15 . The method as claimed in claim 11 , wherein the check of whether at least one other vehicle that transmits a collective perception message or a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of or following the vehicle comprises a distance measurement, wherein the transmission rate of the collective perception message or of the maneuver coordination message is reduced only when the distance of the at least one other vehicle that transmits a collective perception message or a maneuver coordination message with matching information about planned driving maneuvers is at least below a threshold value.
16 . The method as claimed in claim 12 , wherein the transmission rate of the maneuver coordination message is at least reduced when another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of the vehicle.
17 . The method as claimed in claim 12 , wherein transmission of the maneuver coordination message is suspended when another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of the vehicle, and another vehicle that transmits a maneuver coordination message with matching information about planned driving maneuvers is following.
18 . The method as claimed in claim 12 , wherein the check of whether at least one other vehicle that transmits a collective perception message or a maneuver coordination message with matching information about planned driving maneuvers is driving ahead of or following the vehicle comprises a distance measurement, wherein the transmission rate of the collective perception message or of the maneuver coordination message is reduced only when the distance of the at least one other vehicle that transmits a collective perception message or a maneuver coordination message with matching information about planned driving maneuvers is at least below a threshold value.
19 . A communication device for a vehicle for transmitting and receiving a collective perception message and a maneuver coordination message, wherein the collective perception message contains information about the vehicle as well as environmental information acquired with the environmental sensors of the vehicle, and wherein the maneuver coordination message contains information for the coordination of driving maneuvers, wherein the transmission of the collective perception message or of the maneuver coordination message is effected by a method as claimed in claim 2 .
20 . A communication device for a vehicle for transmitting and receiving a collective perception message and a maneuver coordination message, wherein the collective perception message contains information about the vehicle as well as environmental information acquired with the environmental sensors of the vehicle, and wherein the maneuver coordination message contains information for the coordination of driving maneuvers, wherein the transmission of the collective perception message or of the maneuver coordination message is effected by a method as claimed in claim 3 .