DE102010020047A1 - Method for adaptation of reference distance preset for distance control system of vehicle to momentary traffic situation, involves controlling potential movement of third party vehicles during non-existence of preset emergency situation - Google Patents

Abstract

The method involves increasing hardness of reference distance control in a distance control system if a determined probability for potential moving of third party vehicles (2, 3) lies over a preset probability value. Preset reference distance (5) is adapted to a momentary traffic situation such that the potential movement of the third party vehicles is enabled during existence of one of preset emergency situations by enlarging the reference distance. The potential movement of the third party vehicles is controlled during non-existence of the preset emergency situation.

Description

The The invention relates to a method for adapting a for a distance control system of a vehicle predetermined target distance to a current traffic situation. The invention further relates a distance control system for performing just such Procedure and a vehicle with just such a distance control system.

method for controlling / regulating a predetermined nominal distance or a Time gap to a collapse of vehicles from an adjacent Lane to allow on its own lane are known.

So is out of the WO 2007 070 159 A2 a method for detecting potential Einscherern known, wherein the detection is based on a detection of foreign vehicles that drive in front of a separate vehicle. In addition, the method provides that flashing lights, in particular direction indicators, a transverse movement of the staggered foreign vehicles, information of vehicle-vehicle communication and / or lane constrictions are detected on the basis of traffic signs and / or on the basis of map data of a digital road map. The collected information about potential shredders is fed to a collision avoidance device that initiates appropriate collision avoidance steps.

From the DE 100 30 258 A1 a method for controlling a distance of a vehicle to a preceding foreign vehicle is known. The method provides that to control the distance of the vehicle to the preceding foreign vehicle vehicle state variables and vehicle characteristics and the distance and the vehicle speed detected by at least one surrounding other vehicle and adjusts an airspeed of the vehicle to allowable limits. In this case, the intrinsic speed of the vehicle and / or the setpoint distance to the directly preceding foreign vehicle are determined as a function of the vehicle speed of at least one laterally displaced foreign vehicle and / or the distance between a plurality of laterally displaced foreign vehicles.

The EP 1 594 714 B1 describes a method for controlling a driving speed of a vehicle, in which other vehicles are detected, which drive in front of the vehicle in the own lane or in adjacent lanes. On the basis of detected distance and speed data of the vehicles surrounding the vehicle, a future traffic situation is predicted, which is based on a determination of a target acceleration adapted to the traffic situation for a longitudinal control device.

From the DE 10345319 A1 a method and a device for operating a separate vehicle is known, wherein a cruise control unit is provided. The cruise control unit uses information about the current vehicle position as well as upcoming terrain to save fuel and increase ride comfort. The current vehicle position is determined by a signal received from a global satellite positioning system (GPS). In this case, a speed of the vehicle is controlled on the basis of this information.

From the DE 19944 075 C2 It is known that the traffic condition in a traffic network can be qualitatively described according to the so-called three-phase theory of Kerner. Thereafter, the traffic condition is classified into the following traffic phases: a "free traffic" phase in which faster vehicles can easily be overtaken, a phase "synchronized traffic" in which there are few opportunities to overtake, but a high traffic volume prevails, and a phase "congestion "In which the vehicles are almost at a standstill and also the traffic volume drops to very low levels.

Finally, out of the DE 10 2009 015 170 A1 a method and a device for controlling and / or regulating an own driving speed of a vehicle, in particular a commercial vehicle, wherein the own driving speed is controlled and / or regulated as a function of external vehicles detected behind the vehicle and / or on a parallel lane. To detect the foreign vehicles detection units, such as radar sensors, sensors for blind spot monitoring and / or CCD cameras are used. Furthermore, a flashing of direction indicators and a transverse movement of at least one other vehicle are detected. The own driving speed is controlled and / or regulated in such a way that overtaking vehicles and / or foreign vehicles, in particular commercial vehicles, driving into a lane of limited length, in particular from an acceleration lane of a motorway entrance, can puncture in a timely manner, ie within a predefinable time , For this purpose, the own driving speed is reduced by a predefinable fixed value in a predefinable time interval. Alternatively, the own driving speed can also be reduced so far that a predeterminable value of a relative speed between the vehicle and the other vehicle is achieved, whereby a time interval for the attainment of the predeterminable value of the relative speed is likewise predetermined. This is the driving detected speed of the other vehicle from the detection units and, for example, fed to an evaluation that determines the relative speed. Should the determined relative speed be too low, the own driving speed can be reduced again, for example, by a predefinable value.

at Today's distance control systems can from the driver a target distance to a preceding vehicle in different stages, which in turn depend on the own driving speed can be specified. This nominal distance can be determined according to the above-mentioned method, to an instantaneous traffic situation be adapted to a safe shredding a foreign vehicle to ensure. By the known method is respectively a predetermined target distance depending on the presence of trigger conditions increased. This is done in particular by reduction your own driving speed.

Indeed shows in practice disadvantageously that many motorists the desired distance for their distance control system as possible short, d. H. near a minimum distance for a given Selecting the driving speed, so as to cut in foreign vehicles, the only in faith by frequent lane changes one To gain advantage, to prevent. In many traffic situations However, such a short distance is not required because of the Current traffic situation, the probability or the "danger" of a Einscherens is not given sufficiently.

It The object of the present invention is a comparison with the Prior art improved method for adjusting a for a distance control system of a vehicle predetermined target distance to indicate an instantaneous traffic situation, in particular fixes the disadvantage of the known method described above.

The The object is achieved by the features specified in claim 1. Claim 9 describes an inventive distance control system. Claim 10 relates to a vehicle with an inventive Distance control system.

The inventive method for adjusting a predetermined for a distance control system of a vehicle Target distance to a current traffic situation, is characterized characterized by the fact that the current traffic situation around the own vehicle is determined by evaluating the traffic situation probabilities for a potential shearing of adjacent lanes and third-party vehicles detected as part of the determination of the traffic situation be determined before the own vehicle in its first lane, where the traffic situation additionally evaluated to that effect is whether the potential Einscheren a respective foreign vehicle due to given emergency situations or without a presence emergency situation, and in case that a determined probability of a potential Shearing a foreign vehicle over a predetermined Probability value is a hardness of a desired distance control in the distance control system is increased to a faster Reaction of the desired distance control to the potential shearing of the other vehicle, and the predetermined target distance is adapted such that a potential collapse of the foreign vehicle in the presence of one of the given emergency situations by enlargement the desired distance is facilitated and a potential Einscheren of the foreign vehicle in the absence of an emergency situation by reducing the desired distance is difficult.

Of the Concept of "traffic situation" is present widely understood. It includes, for example, a mehrdimensioanlen Parameter- / or. Information record, preferably navigation information, Information from digital road maps, information to current traffic restrictions, current traffic jam reports, Movement information of the own vehicle, movement information of third-party vehicles detected in the vicinity of their own vehicle, and / or information by vehicle-to-vehicle communication transmitted from other vehicles. One dimension in the present case denotes in each case a type of information / parameters, For example, a driving speed of a vehicle. The term "traffic situation" can theoretically include all information that describes a traffic situation at all can. The more dimensions considered in the process the more accurate the current traffic situation or described, but increases for the execution of the Method required computational effort, leaving one depending on the application optimal number of parameters and information considered should be. The term "traffic situation" includes especially in an environment of own vehicle existing Third-party vehicles whose movement quantities (position, Speed, acceleration, direction of travel), the movement quantities your own vehicle, the road the lane guidance, etc. Furthermore fall under the term the "traffic situation" also the collected information of past Traffic situations, so that statistical evaluations of the determined traffic situations over a meaningfully limited Period are possible and to describe the current traffic situation are usable.

By evaluation of the determined momenta NEN traffic situation, which is widely understood as explained above, according to the invention probabilities are determined for a potential Einscheren driving on adjacent lanes and detected in the context of determining the traffic situation foreign vehicles in front of the own vehicle on the first lane. In addition, according to the invention, the current traffic situation is evaluated to determine whether the potential collapse of a respective foreign vehicle would be due to predetermined emergency situations or without the presence of a predetermined emergency situation. The latter is preferably carried out by the fact that the predetermined emergency situations are defined by an n-dimensional parameter set, the determined current traffic situations are also described by a respective parameter set having at least the same n parameter / information dimensions, and the evaluation of whether the potential Einscheren a would occur due to predetermined emergency situations or without the presence of a given emergency situation, by comparing the predetermined for the emergency situations n-dimensional parameter sets with the current traffic situation characterizing parameter sets. The term "emergency situation" in the present case is also broadly understood, it is particularly narrowed not only to accident-prone or life-threatening situations, but includes in particular all traffic situations that can cause a driving on an adjacent lane other vehicle actually have or need to before the first lane to change your own vehicle. Such "emergency situations" may, for example, be given by the end of a threading track, by a blockade of the adjacent lane or by a slow-moving vehicle ahead. All these are traffic situations, which in the present case would be recognized as "emergency situations" in the evaluation of the current traffic situation and would cause an increase in the predetermined target distance so as to enable a safe threading of the affected foreign vehicle.

Become however, no such emergency situations but a high probability for a potential collapse of a foreign vehicle determines the own vehicle, then the target distance of the distance control system automatically reduced, so that a shearing without emergency as far as possible is prevented.

In a preferred embodiment of the invention Procedure will be the probabilities for a potential Shearing a respective foreign vehicle in the first lane in front of your own vehicle depending on a determined lane change rate of foreign vehicles in the first lane, and / or a relative position from another vehicle to the own vehicle, and / or a relative speed from another vehicle to the vehicle, and / or a relative acceleration of foreign vehicles to the vehicle, and / or a traffic density on a respective adjacent lane, and / or a measure of a lane change intent of a foreign vehicle determined, the Track change rate, the relative position, the relative speed, the relative acceleration, the traffic density and the measure of a lane change intention to be determined by evaluating the traffic situation.

With which strength the above information on probability can contribute to a potential shearing, Let me explain with two examples. Is, for example, the determined Lane change rate in the first lane large, so this is an indication of a high Einscherwahrscheinlichkeit is they are small, so this is an indication of a low Einscherwahrscheinlichkeit. If the traffic density is adjacent to the first lane Lane large and on its own, d. H. the first lane relatively lower, this is an indication of a high Likelihood of collapse, conversely, traffic density is up a lane adjacent to the first lane less than the first lane Traffic density on its own first lane, so the Einscherwahrscheinlichkeit is low. Appropriate assumptions can also apply to the others above mentioned parameters / information given resp. be set up. On this basis it is possible to have one individual probability for each other vehicle for a potential shredding in front of your own vehicle to indicate the first (own) lane.

Lies the probability of a potential collapse for all eligible for a Einscheren Foreign vehicles below the given probability value, so becomes the desired distance, typically set by the driver, from the distance control system kept unchanged. The desired distance control of the distance control system is performed with the conventional control parameters.

However, if the probability of a potential collapse, at least for a foreign vehicle, is above the predefined probability value, then the hardness of the setpoint distance control in the distance control system is increased in order to achieve a faster response of the setpoint compensation to the potential collapse of the other vehicle. Furthermore, according to the invention, the predetermined target distance is adjusted such that a potential collapse of the other vehicle in the presence of one of the predetermined emergency situations by increasing the target distance is facilitated and a potential collapse of the other vehicle in the absence of an emergency situation by reducing the desired distance is difficult. Thus, the target distance is then, for example, automatically increased when other vehicles are in an emergency situation, for example. Be forced because of a lane change on the first lane is hardened in the course of a journey, the distance control in the presence of the appropriate conditions and the target distance modified accordingly, ie the method according to the invention is carried out, and the further evaluation of further detected current traffic situations results in a likelihood of a collapse of foreign vehicles, which again falls below the predetermined probability value, the desired distance originally predetermined by the driver is preferably maintained again and the Distance control is again preferably with the conventional control parameters.

Preferably depends on the measure of a lane change intent of a foreign vehicle on whether the other vehicle on a lane limited length moves, and / or at what relative speed the foreign vehicle moves in relation to the vehicle, and / or at what distance the other vehicle ahead in its lane moving foreign vehicle follows, and / or at which relative speed to the preceding foreign vehicle drives the other vehicle, and / or at what speed the other vehicle is traveling and / or which lane marking between the lane of the other vehicle and the lane of the vehicle is present, and / or which vehicle type the foreign vehicle is, and / or what length the other vehicle has, the above information in the context of the determined traffic situation Are available. In particular, the measure of a lane change intent of a foreign vehicle substantially by a transmitted by vehicle-vehicle communication from the other vehicle Lane change intent determined. The lane change rate is preferred Based on a tracking of foreign vehicles. Further preferred are used to determine the lane change rate only third-party vehicles, at a Einscheren on the first lane a distance to keep following vehicle on the first lane, the smaller than the predetermined target distance.

following Be embodiments of the invention with reference to drawings explained.

there demonstrate:

1 a first traffic situation with a route with two lanes and several vehicles, for example a motorway in a direction of travel, in plan view, where both lanes have a traffic direction from left to right,

2 a second traffic situation with a route with two lanes and several vehicles, for example a motorway in a direction of travel, in plan view, where both lanes have a traffic direction from left to right,

3 a third traffic situation with a route with two lanes and several vehicles, for example a motorway in one direction of travel, in plan view, where both lanes have a traffic direction from left to right, and

4 a fourth traffic situation with a route with two lanes and a Einfädelspur with multiple vehicles, eg. A highway in a direction of travel, in plan view, the lanes have a traffic direction from left to right.

1 shows a first traffic situation with a driving lane with two lanes (one upper with the vehicles 1 . 2 , and a lower with the vehicle 3 ), For example, a highway in plan view, both lanes have a traffic direction from left to right. The own vehicle 1 follows a preceding vehicle 2 with activated distance control system in a specified by the driver the distance control system target distance 5 , The nominal distance 5 in the present case is significantly greater than the minimum distance, which, for example, for the current speed of the vehicle 1 and 2 would result. As a consequence, was in the own vehicle 1 Using existing environmental sensors for detected in the past five minutes traffic situations determined a high lane change rate on the own upper lane.

aim it is now the distance command by the determined instantaneous Traffic conditions control and the disadvantages of a large Target distance specification, in particular a cutting in of foreign vehicles without reducing need.

In the present case, the following influencing variables are taken into account: a lane change rate, a risk of tearing, a likelihood of being lashed, a possibility of tampering, lane changes / overtaking bans and map information, such as eg. B. motorway ramps, distinction in urban areas and out of town. This information is obtained by evaluating the determined current traffic situation. The traffic situation in the environment of the own vehicle 1 is present by means of environmental sensors from their own vehicle 1 from, by means of digital road maps, by means of current traffic information, by means of an existing navigation system in the vehicle and by means of information from the vehicles 2 and 3 to the vehicle 1 be transmitted via vehicle-vehicle communication determined.

In the present case, the evaluation of the current traffic situation, as described in 1 No emergency situation is detected. On the contrary, the lower lane in front of the vehicle 3 is free. The vehicle 3 is therefore not forced to switch to the upper lane. Have been in the past, as is assumed here, of your own vehicle 1 However, many Einschervorgänge detected on their own upper lane, this is a sign that the given large target distance 5 is not appropriate for this situation and therefore should be reduced accordingly, if there is a correspondingly high probability of a potential Einschervorgang of the vehicle 3 results. A correspondingly high probability of a potential collapse of the vehicle 3 ie the likelihood of carving in 3 on the upper lane is higher than a predetermined probability value, can result in the simplest case already from a correspondingly high lane change rate. This is assumed in the present case. Thus, in the present case, the setpoint distance predetermined by the driver is reduced and thus the vehicle is shored up 3 difficult. When reducing the desired distance specification, for example, it is additionally necessary to take into account the severity of the impairment caused by the insertion process.

In the embodiment, the vehicles 2 and 3 also from the environmental sensors of the vehicle 1 tracked (tracked). This can be derived from the current movement data (distance, speed, relative lane, acceleration, etc.) of the vehicles 2 and 3 derive whether for themselves for the vehicle 3 offers a lane change possibility at all, since this will make a lane change for safety reasons only under certain conditions. Thus, for example, at low relative speeds, the possibility for a lane change more given than at higher speeds. In order not to unnecessarily provoke lane changes, therefore, should such situations occur frequently, should be regulated to a smaller target distance. Preferably, with a low track change rate, the desired distance is increased and reduced with a large track change rate. In the case of a change in the desired decency predefined by the driver, this nominal distance value is preferably taken into account. In a further preferred embodiment, the hardness of the distance control is selected by the distance control system soft at low lane change rate while a harder control is selected at a large lane change rate. Preferably, a change in the desired distance and / or a change in the hardness of the distance control are determined by monotone functions with respect to the input variable lane change rate. In lane change prohibitions, for example, in solid road markings that prohibit driving over, the influence / change the target distance or the hardness of the distance control may be lower. Furthermore, the current traffic situation may include navigation information that allows a classification of the current position in urban and off-site, so that the change / adjustment of the target distance can be interpreted differently depending on the assignment to the respective class.

2 shows a second traffic situation with a driving lane with two lanes (one upper with the vehicles 1 and 2 , and a lower one with the vehicles 3 and 4 ), For example, a highway in plan view, both lanes have a traffic direction from left to right. As in 1 drives the own vehicle 1 with activated distance control system in the specified by the driver target distance 5 behind the vehicle 2 ago. In the second traffic situation, it is assumed that an evaluation of the determined instantaneous traffic situations results in a high traffic volume on the lower lane with simultaneously low relative speeds of the vehicles 3 and 4 relative to your own vehicle 1 results. The evaluation of the determined traffic situation with regard to the probability of a potential collapse of the vehicle 3 in front of the vehicle on the upper lane is therefore high. In the present case, it is assumed that this probability is above the given probability value. It is further assumed that an emergency situation is not recognized due to the parameters given for this purpose. The method according to the invention will therefore harden the distance control in order to actually collapse the vehicle 3 in front of the vehicle 1 to be able to react in time. Furthermore, the target distance to the vehicle 2 automatically shrinks to a collapse of the vehicle 3 in front of the vehicle 1 to complicate.

In This embodiment is the change the desired distance or the hardness of the distance control based on relative speed and traffic density. Preferably Relative speed and traffic density are damped with a filter Control variables. The desired distance is preferred reduced at low relative speeds and larger Relative speeds chosen larger. The target distance continues to be at low traffic density an adjacent lane enlarged and at reduced traffic density on an adjacent lane. Preferably, the desired distance is relative to a relative speed and traffic density monotonous and steady function. Further preferred becomes harder at low relative speeds Control and at relatively high speeds a softer control selected.

3 shows a third traffic situation a driving route with initially two lanes (an upper with the vehicles 1 and 2 , and a lower with the vehicle 3 For example, a highway in plan view, wherein the lower lane opens in the right image area in the upper lane and from there to the route is one lane. As in the previous figures drives your own vehicle 1 with activated distance control system in the specified by the driver target distance 5 behind the vehicle 2 ago. The vehicle 2 is therefore the control object relevant to the distance control system. The vehicle 3 moves laterally on the lower threading track. An evaluation of the associated traffic situation results in a very high probability of a potential lane change of the vehicle 3 from the lower threading lane to the upper lane in front of your own vehicle 1 , A further analysis of the traffic situation with regard to an emergency situation as the cause of a lane change of the vehicle 3 gives such an emergency situation, since the threading track has only a finite length and the vehicle 3 must change to the upper lane within this length. Thus, there is both an emergency situation, within the meaning of the present understanding of this term, as well as a high probability of a potential collapse of the vehicle 3 in front of the upper lane. As a result, in the present case, the distance control is hardened and the target distance is increased to ensure safe threading of the vehicle 3 in front of the vehicle 1 to ensure.

4 shows a fourth traffic situation with a route with initially two lanes (an upper with the vehicles 1 and 2 , and a lower with the vehicle 3 For example, a highway in plan view, wherein the lower lane opens in the right image area in the upper lane and from there to the route is one lane. As in the previous figures drives your own vehicle 1 with activated distance control system in the specified by the driver target distance 5 behind the vehicle 2 ago. In the present case it is assumed that the vehicle 3 at high speed on the vehicle 4 ascends. In 4 this is with the arrows of different lengths on the vehicles 3 and 4 indicated. An evaluation of the traffic situation results in a high probability of a potential collapse of the vehicle 3 on the upper lane in front of your own vehicle 1 , as well as an acute emergency situation, this time with accident risk. As a result, the distance control is hardened and the target distance is increased.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - WO 2007070159 A2 [0003]
• - DE 10030258 A1 [0004]
• EP 1594714 [0005]
• - DE 10345319 A1 [0006]
• - DE 19944075 C2 [0007]
• - DE 102009015170 A1 [0008]

Claims (10)

Method of adapting a vehicle for a distance control system of a vehicle ( 1 ) predetermined target distance to a current traffic situation, in which - the current traffic situation around the own vehicle ( 1 ), by evaluating the traffic situation probabilities for a potential collapse of foreign vehicles driving on adjacent lanes and detected in the context of the determination of the traffic situation ( 3 . 4 ) in front of your own vehicle ( 1 ) are determined on the first lane, wherein the traffic situation is additionally evaluated to determine whether the potential Einscheren a respective foreign vehicle ( 3 . 4 ) would be due to given emergency situations or without a given emergency situation, and - in the case that a determined probability for a potential collapse of a foreign vehicle ( 3 . 4 ) is above a predetermined probability value, a hardness of a target distance control in the distance control system is increased in order to achieve a faster response of the target distance control to the potential collapse of the foreign vehicle ( 3 . 4 ), and the predetermined target distance is adjusted such that a potential collapse of the foreign vehicle ( 3 . 4 ) is facilitated in the presence of one of the predetermined emergency situations by increasing the target distance and a potential collapse of the foreign vehicle ( 3 . 4 ) is made difficult in the absence of an emergency situation by reducing the target distance. Method according to Claim 1, in which the traffic situation determined comprises navigation information, information from digital road maps, information about current traffic restrictions, current traffic jam messages, movement information of the own vehicle ( 1 ), Movement information of around the own vehicle ( 1 ) registered foreign vehicles ( 2 . 3 . 4 ), and / or information obtained by means of vehicle-to-vehicle communication of foreign vehicles ( 2 . 3 . 4 ). Method according to Claim 1 or 2, in which the probabilities for a potential collapse of a respective foreign vehicle ( 3 . 4 ) in the first lane ahead of your own vehicle ( 1 ) depending on: - a determined lane change rate of foreign vehicles ( 2 . 3 . 4 ) in the first lane, and / or - a relative position of other vehicle ( 2 . 3 . 4 ) to your own vehicle ( 1 ), and / or - a relative speed of foreign vehicle ( 2 . 3 . 4 ) to your own vehicle ( 1 ), and / or - a relative acceleration of foreign vehicles ( 2 . 3 . 4 ) to your own vehicle ( 1 ), and / or - a traffic density on a respectively adjacent lane, and / or - a measure of a lane change intent of a foreign vehicle ( 3 . 4 ), wherein the lane change rate, the relative position, the relative speed, the relative acceleration, the traffic density and the measure of a lane change intention are determined by evaluating the traffic situation. Method according to Claim 3, in which the measure for a lane change intent of a foreign vehicle ( 3 . 4 ) depends on whether the third party vehicle ( 3 . 4 ) travels on a lane of limited length, and / or - at what relative speed the other vehicle ( 3 . 4 ) in relation to the own vehicle ( 1 ), and / or - at what distance the other vehicle ( 3 ) a foreign vehicle driving ahead in its lane ( 4 ), and / or - at what relative speed to the preceding foreign vehicle ( 4 ) the foreign vehicle ( 3 ), and / or - at what speed the other vehicle ( 3 . 4 ) and / or - which lane marking between the lane of the other vehicle and the lane of the own vehicle ( 1 ), and / or - which vehicle type the foreign vehicle ( 3 . 4 ), and / or - which length the other vehicle ( 3 . 4 ), wherein the above information is available in the context of the determined traffic situation. Method according to Claim 4, in which the measure for a lane change intention of a foreign vehicle ( 3 . 4 ) substantially by means of vehicle-vehicle communication from the foreign vehicle ( 3 . 4 ) is determined lane change intent. Method according to one of claims 3 to 5, in which the lane change rate based on tracking of foreign vehicles ( 2 . 3 . 4 ) is determined. Method according to Claim 6, in which only foreign vehicles ( 2 . 3 . 4 ) are taken into account, which keep a distance to the following vehicle on the first lane, which is smaller than the predetermined desired distance at a Einscheren on the first lane. Method according to one of claims 1 to 7, wherein the predetermined emergency situations are defined by a respective n-dimensional parameter set, the determined instantaneous traffic situations are described by a respective parameter set, the at least the same n Parameterdi mensionen, and the evaluation of whether the potential Einscheren a respective foreign vehicle due to given emergency situations or without the presence of a given emergency situation would be carried out by comparing the predetermined for the emergency situations n-dimensional parameter sets with the current traffic situation characterizing parameter sets. Distance control system for a vehicle ( 1 ), in which a desired distance can be predetermined, set up and executed such that the method according to one of the preceding claims is executable. Vehicle ( 1 ) with a distance control system according to claim 9.

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