Method for operating a driver assistance system with which early adjustment of an adaptive cruise control can be carried out, as well as electronic driver assistance system and vehicle

Abstract

The invention relates to a method for operating a driver assistance system (3) in a vehicle (1), wherein - an adaptive cruise control of the vehicle (1) is carried out with the driver assistance system (3) depending on a vehicle (5) driving ahead of the vehicle (1), comprising: - Providing at least one piece of environmental information of an environmental area (7) located in front of the preceding vehicle (5) to an electronic evaluation unit (8) of the driver assistance system (3), - analyzing at least one environmental situation (17) in the environmental area (7) in front of the preceding vehicle (5) on the basis of the at least one item of environmental information by the electronic evaluation unit (8), - predicting a potential future driving behavior (19) of the preceding vehicle (5) on the basis of the analyzed at least one environmental situation (17) by the electronic evaluation unit (8), - Adapting the adaptive cruise control of the vehicle (1) based on the potential future driving behavior (19) of the vehicle (1) driving ahead. Furthermore, the invention relates to an electronic driver assistance system (3) and a vehicle (1).

Description

[0001] The invention relates to a method for operating a driver assistance system in a vehicle, wherein the driver assistance system carries out adaptive cruise control of the vehicle as a function of a vehicle driving ahead of the vehicle, which vehicle is moving in the same lane as the vehicle.

[0002] Furthermore, the invention relates to an electronic driver assistance system with an electronic evaluation unit.

[0003] The invention also relates to a vehicle with an electronic driver assistance system.

[0004] Motor vehicles have a variety of driver assistance systems to support the driver in driving the vehicle. At least partially autonomous or automated driving modes can be implemented here. For this purpose, an adaptive cruise control system can be provided as a driver assistance system. This can be referred to, for example, as automatic distance control or "adaptive cruise control" (ACC). The adaptive cruise control can be used to set a distance to a vehicle ahead to a predetermined minimum distance and, if the speed of the vehicle ahead allows this, to set the speed of the motor vehicle to a predetermined target speed. The motor vehicle or vehicle can be operated at least partially autonomously or automatically.If the speed of the vehicle in front decreases, particularly due to braking, the adaptive cruise control adjusts the vehicle's speed accordingly. If the vehicle in front increases its speed again, the adaptive cruise control can also increase the vehicle's speed accordingly. This can always ensure that a minimum distance is maintained between the two vehicles.

[0005] For example, DE 10 2019 219 435 A1 discloses a method for influencing at least one safety system of an ego vehicle. For this purpose, vehicle-specific data from a data storage device is compared with the current position of an ego vehicle and only the planned trajectory, and these are analyzed for potential hazards and / or conflicts. If a potential hazard and / or conflict is detected, at least one safety system of the ego vehicle is adapted.

[0006] Furthermore, DE 10 2014 209 520 A1 discloses a method for an automatic distance control system for a vehicle. This system detects an interceptor vehicle that is in a lane other than the vehicle's own lane. Furthermore, a lane change from the other lane to the vehicle's own lane is detected, as seen by the interceptor vehicle. Finally, it is automatically determined whether a specified minimum distance from the interceptor vehicle can be maintained by decelerating the vehicle at a deceleration that is less than or equal to a specified maximum deceleration value.

[0007] Furthermore, DE 10 2021 129 606 A1 discloses a method for controlling and / or regulating the speed of an automated motor vehicle. This method can detect whether a lane located adjacent to a current lane of the automated motor vehicle ends in a predetermined area in front of the automated motor vehicle. Furthermore, it can detect whether a vehicle is located in the lane adjacent to the automated motor vehicle. If it is detected that the lane ends next to the automated motor vehicle and a vehicle is located in the lane adjacent to the automated motor vehicle, a prediction is made as to whether the vehicle in the lane adjacent to the automated motor vehicle will merge in front of or behind the automated motor vehicle.

[0008] DE 10 2019 109 797 A1 discloses a control unit for operating a vehicle's distance control system. The control unit is configured to predict that a vehicle traveling in front of the vehicle will or could perform a braking maneuver at a location ahead.

[0009] For example, DE 10 2005 036 049 A1 discloses a method for detecting a turning maneuver. This method allows checking whether a turning opportunity exists using a digital map.

[0010] Furthermore, DE 10 2014 118 636 A1 discloses a device for controlling vehicles which is capable of carrying out a follow-up control having a follow-up mode based on a vehicle distance.

[0011] One disadvantage of adaptive cruise control is that it focuses on the vehicle in front of the vehicle and its current driving behavior.

[0012] In this case, acceleration or braking or deceleration occurs at the same rate as the acceleration or deceleration of the vehicle in front, so that, depending on the given situation, abrupt acceleration or abrupt braking can occur, which primarily impairs driving comfort.

[0013] An object of the present invention is to operate a driver assistance system, in particular a distance control system, more efficiently by reacting proactively to the vehicle in front.

[0014] This problem is solved by a method, an electronic driver assistance system, and a vehicle according to the independent patent claims. Useful further developments arise from the dependent patent claims.

[0015] One aspect of the invention relates to a method for operating a driver assistance system in a vehicle, wherein the driver assistance system carries out an adaptive cruise control of the vehicle depending on a vehicle driving ahead of the vehicle, which vehicle is moving in the same lane as the vehicle, comprising: - In particular, providing at least one piece of environmental information of an area of ​​the surroundings in front of the vehicle in front to an electronic evaluation unit of the driver assistance system, - In particular, analyzing at least one environmental situation in the environmental area in front of the vehicle in front on the basis of the at least one piece of environmental information by the electronic evaluation unit, - In particular, predicting a potential future driving behavior of the vehicle in front on the basis of the analyzed at least one environmental situation by the electronic evaluation unit, and Adjusting the vehicle's adaptive cruise control based on the potential future driving behavior of the vehicle ahead with the driver assistance system.

[0016] The proposed method enables a driver assistance system, in particular an adaptive cruise control system, to be operated more efficiently. The driver assistance system operates depending on a vehicle traveling ahead and, in particular, on its reactions. Consequently, the vehicle's adaptive cruise control can be adapted in good time to an impending, particularly future, reaction of the moving vehicle. This can prevent the vehicle from only reacting to a change in driving behavior of the vehicle traveling ahead when this is already happening. For example, if the vehicle traveling ahead performs sharp braking or acceleration, the adaptive cruise control can also cause or trigger a sharp acceleration or braking of the vehicle.This would be particularly uncomfortable for the vehicle's passengers, as the vehicle would accelerate or brake abruptly. Sudden deceleration can negatively impact following traffic and, in particular, lead to rear-end collisions. Consequently, only the proposed method can make the vehicle's adaptive cruise control more proactive, allowing the adaptive cruise control to better react in advance to a corresponding change in the driving behavior of the vehicle ahead, and in particular, to a reaction from the vehicle ahead.

[0017] For example, if the vehicle in front brakes sharply or decelerates sharply, today's adaptive cruise control systems can trigger an uncomfortable and, in particular, safety-critical reaction. Furthermore, if the vehicle in front reacts suddenly or in a way that is unknown to the adaptive cruise control system, the adaptive cruise control can be terminated and the driving task can be transferred entirely to the driver.In order to remedy this situation, the proposed method can be used advantageously, since this is precisely where the invention comes into play and can prepare or adapt an adaptive cruise control as a driver assistance system in advance in such situations, so that the driver assistance system can adapt the adaptive cruise control early or in advance to a potential change in the driving behavior of the vehicle in front.

[0018] By predicting or forecasting potential future driving behavior, particularly on the system side, it is possible to determine early on or in advance that, for example, the vehicle ahead will brake in the near future or immediately. This allows the adaptive cruise control to be adjusted accordingly, so that, for example, the vehicle's speed is minimized accordingly. The driver assistance system, particularly electronic, can be an adaptive cruise control (ACC). With the help of the driver assistance system, the vehicle can be driven automatically depending on the vehicle ahead.

[0019] The vehicle in front serves as the target vehicle or as the control vehicle, which is used to regulate the vehicle's speed and / or the distance between the vehicle and the vehicle in front. In other words, with the help of the driver assistance system, the vehicle can follow the vehicle in front at least partially autonomously, automatically, or automatically. Consequently, automated following can be performed here.

[0020] For this purpose, the vehicle in front, i.e. the vehicle in front, is detected by sensors or by a sensor system of the vehicle. The vehicle in front travels in the same lane as the vehicle. Such at least partially automated driving based on the vehicle in front can be used, for example, along a motorway, a straight section of road or a trunk road. The at least one item of environmental information or several items of environmental information can be provided and, in particular, transmitted to the electronic evaluation unit, which can be a computing unit. For example, corresponding information can be exchanged between the two vehicles or between other vehicles in the surrounding area via vehicle-to-vehicle communication.

[0021] The environmental information provides, in particular, information that characterizes the area in front of the vehicle driving ahead. This makes it possible to determine whether the vehicle will need to brake in the near future, for example due to a situation ahead. Further environmental information relating to the environment of the vehicle driving ahead and / or environmental information relating to the vehicle can also be provided to the electronic evaluation unit. Based on the at least one piece of environmental information, the environmental situation in the area in front of the vehicle is analyzed or assessed automatically and / or by the system. This can be analyzed, for example, to determine whether another vehicle driving ahead is braking in front of the vehicle driving ahead or whether, for example, a road user, such as a pedestrian, is in the lane or moving in the lane.It is also conceivable that, for example, the environmental situation in front of the vehicle could be a switching of a traffic light, such as a traffic light, a traffic jam, an accident, a vehicle merging, a current traffic rule or traffic regulation or any other situation or circumstance that influences the driving behavior of the vehicle in front.

[0022] Depending on the analyzed at least one environmental situation, the system and / or the electronic evaluation unit can predict or forecast a potential future driving behavior of the vehicle in front. In particular, it can be predicted or forecast whether the vehicle in front will adjust its driving behavior in the near future or imminently. For example, it can be predicted whether the vehicle in front will brake, accelerate, swerve, or turn in the future. Other prediction results or forecast results are also conceivable.

[0023] With adaptive cruise control, the vehicle's speed is adjusted or adjusted to the speed of the vehicle ahead, taking into account the speed of the vehicle ahead. In other words, the vehicle adjusts or adapts based on the potential future driving behavior of the vehicle ahead.

[0024] Consequently, the prediction allows adaptive cruise control to be adjusted or adapted early, proactively, or in advance, so that the vehicle, and especially the driver assistance system, is prepared for a potential future reaction from the vehicle ahead. This allows short-term, spontaneous reactions from the vehicle ahead to be mitigated, as the driver assistance system and thus the vehicle can prepare for them in advance.

[0025] In one embodiment, the adaptive cruise control is adjusted in such a way that the distance between the vehicle and a vehicle traveling ahead is increased. Thus, the distance between the vehicle and the vehicle traveling ahead can be adjusted and, in particular, increased at an early stage, i.e., when it is determined that the driving behavior of the vehicle traveling ahead is potentially about to change.

[0026] In other words, a safe distance to the vehicle in front can be increased so that if the potential future driving behavior is accompanied by heavy braking or deceleration by the vehicle in front, the reaction time of the vehicle can be increased by the increased distance. By increasing the distance, for example, it may not be necessary to react to braking or deceleration by the vehicle in front, as this is compensated for by the increased distance. Furthermore, it can be taken into account whether it is only a short-term braking or a long-term change in speed. Depending on the situation, the vehicle's driving behavior can be intelligently adapted to the corresponding potential future driving behavior of the vehicle in front.

[0027] For this purpose, the current speed of the vehicle can be reduced based on the potential future driving behavior of the vehicle in front, or instead of the current speed. This allows the vehicle's speed to be reduced early on, thereby increasing the distance to the vehicle in front and providing a sufficient safety margin in case the vehicle in front brakes or performs other driving reactions that negatively impact the vehicle.

[0028] In one exemplary embodiment, a potential future trajectory of the vehicle in front is predicted by the electronic evaluation unit based on the analyzed at least one environmental situation, wherein the predicted potential future trajectory is taken into account when adapting the adaptive cruise control. If, for example, it is determined that the vehicle in front changes its course of travel due to the environmental situation and thus a different trajectory than the current trajectory of the vehicle in front will change, this can be taken into account in the adaptive cruise control. In this case, it can be considered whether, based on the predicted trajectory of the vehicle in front, the vehicle in front will still be suitable as a suitable target vehicle or standard vehicle for the vehicle in the future.If the future trajectory includes the vehicle in front leaving its lane, for example, the system can prepare early on so that the vehicle in front can no longer be used to control the vehicle's speed. In this case, it can also be checked whether the future trajectory of the vehicle in front can be used, at least in part, to continue to move or control the vehicle automatically based on the vehicle in front. When adjusting the trajectory, i.e. when the vehicle actually travels along the future trajectory, it can be continuously checked whether the vehicle in front will return to its original trajectory, i.e., the current trajectory, and whether this corresponds to the destination or route of the vehicle itself.

[0029] This allows for a gradual and early determination of whether the vehicle ahead can still be used as a suitable target vehicle for adaptive cruise control, allowing appropriate precautions to be taken early on. For example, it can be checked whether, as the vehicle ahead passes along the future trajectory, there is another vehicle in the vicinity of the vehicle that can serve as a new target or control and be used for adaptive cruise control.

[0030] In one exemplary embodiment, it is provided that during the analysis of the at least one environmental situation, a check is carried out to determine whether the at least one environmental situation causes an at least partial change in the driving behavior of the vehicle in front. In other words, during the analysis or assessment, a check is carried out to determine whether the at least one environmental situation influences the driving behavior of the vehicle in front, in particular negatively. It can therefore be determined here whether, due to the at least one environmental situation, the vehicle in front will initiate or carry out a braking maneuver, an acceleration maneuver, a turning maneuver, or another driving maneuver in the future. This allows the adaptive cruise control to be adjusted or adapted at an early stage to a corresponding potential driving maneuver of the vehicle in front.

[0031] It is provided that, when analyzing the at least one environmental situation, a probability value relating to a probability that, based on the at least one environmental situation, the driving behavior of the vehicle in front will change in the immediate future is determined. The determined probability value is taken into account when predicting the potential future driving behavior of the vehicle in front. The environment or surrounding area in front of the vehicle in front can be assessed or evaluated accordingly to determine whether environmental situations exist that could influence the driving behavior of the vehicle in front.

[0032] For example, a pedestrian may be standing on the edge of the road in the area in front of the vehicle in front. The probability that this pedestrian will walk onto the road and thereby trigger an evasive maneuver and / or braking maneuver by the vehicle in front can be estimated or predicted. A corresponding probability value can be determined or ascertained for such an exemplary environmental situation. Thus, using the probability value, it can be determined how high the probability is that at least one environmental situation will influence the driving behavior of the vehicle in front.

[0033] The electronic evaluation unit can additionally have a prediction unit to determine the corresponding probability value. For this purpose, a wide variety of information in the surroundings of the vehicle and / or the vehicle ahead and / or information from the vehicle ahead and / or the vehicle and / or information from other road users and / or traffic systems can be provided and, in particular, electronic evaluation can be performed. This allows for a detailed analysis of the surrounding situation and, in particular, a probability value appropriate to the surrounding situation to be determined.

[0034] For example, when analyzing at least one environmental situation, road users, vehicles, pedestrians, and / or traffic situations can be continuously evaluated or analyzed. Above all, a continuous transmission of environmental information from the surrounding area can be provided to better analyze the environmental situation. If it is determined that, as in the example mentioned above, the pedestrian is approaching the lane, the probability value can be higher, resulting in a high probability that the vehicle ahead will brake.

[0035] As another example, the environmental situation could be a traffic light. Based on the environmental information, the respective traffic light phases can be provided, allowing, for example, analysis or estimation of when the traffic light will turn red. For example, if an immediate red light is predicted and another vehicle in front of the preceding vehicle is still sufficiently far away from the traffic light to perform a corresponding braking maneuver, the probability that the preceding vehicle will also brake is high.If, for example, it is determined that the traffic light will turn red immediately, but the vehicle in front is already too close to the traffic light and the speed of the vehicle in front is too high to safely brake, it can be concluded that the vehicle in front will drive through the red light and will not brake. In this case, the driver assistance system can also determine that the vehicle in front can probably no longer be used as a control object or as a target object for adaptive cruise control in the future.

[0036] Another example regarding the surrounding situation could be that there is another vehicle to the left or right of the vehicle in front that wants to merge in front of the vehicle in front. Depending on the traffic situation and, in particular, the speed of the other vehicle, it can be determined whether the other vehicle will actually merge or not, and depending on this, the probability of whether the vehicle in front will react can be calculated.

[0037] The plan is for the determined probability value to be compared with a threshold value. If the probability value exceeds the threshold value, a pre-warning signal is generated and transmitted to the driver assistance system, thus preparing the driver assistance system for a potential adjustment of the driving behavior of the vehicle in front. By comparing the probability value with the threshold value, conclusions can be drawn as to whether and, if so, when the driving behavior of the vehicle in front will actually be adjusted. The threshold value can, for example, be used to specify or define on the system side the probability value above which the driving behavior of the vehicle in front will actually be adjusted, at least in part. If the threshold value is exceeded, the adaptive cruise control should be adjusted, at least in part.The threshold value can thus be used to specify when, based on the probability value, the driver assistance system should at least partially precondition, preconfigure, and / or prepare the adaptive cruise control, since the driving behavior of the vehicle ahead is highly likely to change in the immediate future. This allows for system-side preparation or preconditioning, allowing an early response to actual future adaptive driving behavior, since the driver assistance system is accordingly prepared. For example, the vehicle's speed can be reduced at least minimally in advance, thus preventively increasing the distance to the vehicle ahead.

[0038] For example, the threshold value can be provided to the electronic evaluation unit or can be individually defined by the electronic evaluation unit depending on a driving situation. For example, the threshold value may behave differently when vehicles are traveling on a less busy highway than in an urban area or in a heavily frequented traffic zone. Above all, the threshold value can be used to analyze the probability value to determine whether the driving behavior of the vehicle ahead will actually change. For example, the threshold value can be set based on reference conditions and / or reference situations, which can be stored in a database.The respective environmental situation and the probability value can be compared with reference situations and reference values, so that in the case of a similar environmental situation and a similar probability value, a corresponding driving behavior of the vehicle in front can be assumed.

[0039] In one exemplary embodiment, the electronic evaluation compares the current driving behavior of the vehicle in front with the potential future driving behavior of the vehicle in front, with a corresponding comparison result being taken into account when adapting the adaptive cruise control. The current driving behavior of the vehicle in front can be detected using vehicle sensors and / or externally provided information. This, in particular detected, current driving behavior of the vehicle in front can be compared with the predicted potential future driving behavior and thus analyzed or assessed. The comparison result, which was determined by the system, can thus provide information about whether the future potential driving behavior has changed compared to the current driving behavior.This can be used to determine whether future driving behavior will have a negative impact on the vehicle compared to current driving behavior. This can be taken into account for the vehicle's automated cruise control.

[0040] In one exemplary embodiment, the comparison result provides a deviation between the current driving behavior of the vehicle in front and the potential future driving behavior of the vehicle in front, wherein, depending on the extent of the deviation, a time and / or a type of adaptation of the adaptive cruise control is determined. Should the future driving behavior differ substantially from the current driving behavior of the vehicle in front and thus a deviation exists, this can be taken into account when adapting the adaptive cruise control. For example, the greater the deviation, the earlier the adaptive cruise control should be adapted.Depending on the extent of the deviation, it is possible to determine the point in time at which the current driving behavior is adapted to the potential future driving behavior. This makes it possible, for example, to determine when the vehicle in front will brake due to the surrounding situation, so that this can be taken into account in the adaptive cruise control. The greater the extent of the deviation and the resulting change in driving behavior, especially the more serious it is, the more the type, intensity, strength or extent of adaptation for the adaptive cruise control can be determined. Depending on this, it can be determined how hard the vehicle should brake and thus reduce its speed, and for example whether driving maneuvers need to be carried out. In particular, the distance to the vehicle in front can be increased accordingly.

[0041] The greater the extent of the deviation in driving behavior, the earlier the adaptive cruise control adjustment should be made. This allows the timing of the adjustment to be determined.

[0042] In one exemplary embodiment, it is provided that when predicting the potential future driving behavior of the vehicle in front, a potential adaptation time relating to an adaptation of the current driving behavior to the potential future driving behavior is additionally determined, wherein the potential adaptation time is taken into account when adapting the adaptive cruise control. Thus, when predicting the potential future driving behavior, the system can additionally determine when, in particular presumably, the adaptation or change of the current driving behavior to the future driving behavior will occur. Using this adaptation time, the driver assistance system can in turn adapt the adaptive cruise control accordingly early, i.e. beforehand, so that the vehicle is prepared accordingly in advance.

[0043] It is also conceivable that when predicting the potential future driving behavior, a potential time period is determined, with the time period characterizing how long the adjusted future driving behavior will be maintained. This is advantageous because, for example, adapting the current driving behavior to the future driving behavior is only temporary, and then the vehicle in front returns to a driving behavior that essentially corresponds to the current driving behavior. This is particularly important for the continued following of the vehicle in front with regard to automated following.

[0044] In one embodiment, the analyzed environmental situation is categorized by the electronic evaluation unit based on reference environmental situation categories, wherein a reference environmental situation category assigned to the analyzed environmental situation is taken into account when predicting the potential future driving behavior of the vehicle in front. For example, specific situations can be provided based on the reference environmental situation category, wherein corresponding conceivable adaptations of the driving behavior or conceivable driving reactions can be provided for these reference environmental situations. Thus, based on the categorization, it is optionally also possible to provide the type and / or extent of adaptations that are conceivable in a corresponding situation.This can in turn be taken into account for predicting the driving behavior of the vehicle in front, since it is possible to determine more efficiently which adjustments to the driving behavior of the vehicle in front are to be expected, especially based on the respective assigned category.

[0045] The reference environmental situation categories can be stored in a corresponding database, to which the electronic evaluation unit has communicative access. Similar situations can be provided with the various categories, and a resulting vehicle response can be provided for each situation. This data can be advantageously considered when predicting driving behavior.

[0046] In one embodiment, it is provided that environmental information is detected by a detection unit of the vehicle, a detection unit of the preceding vehicle, and / or a detection unit of an infrastructure system and provided to the electronic evaluation unit. Thus, a wide variety of information sources can be used to provide, in particular, detailed environmental information, in order to in turn be able to perform an efficient analysis of the environmental situation. In other words, the wide variety of sensors, detection systems, and / or other environmental detection sensors of the vehicle and / or the preceding vehicle and / or an infrastructure system can be used to collect extensive and diverse information regarding the environmental area.The infrastructure system can, for example, be a traffic control system, traffic reporting system, or other traffic information system. The collected information can be provided to the electronic evaluation unit via communication connections, particularly wireless communication options.

[0047] It is also conceivable for various other road users in the vicinity of the vehicle and the vehicle in front to provide additional information to the electronic evaluation unit. In one exemplary embodiment, the vehicle's navigation system provides the environmental information to the electronic evaluation unit, a navigation system of the vehicle in front and / or a traffic information system. Various navigation data, map data, and / or traffic data can be provided to the electronic evaluation unit, which in turn can be used to perform a more accurate analysis of the surrounding situation.For example, if the provided environmental information determines that there is a traffic jam or an accident ahead of the vehicle in front, it can be assumed that the vehicle in front will slow down or even take a completely different route. This, in turn, can be used to advantage by the driver assistance system.

[0048] In one embodiment, it is provided that an indication signal is generated based on the adjustment of the adaptive cruise control, wherein, based on the generated indication signal, a user of the vehicle is given an indication regarding the adjustment of the adaptive cruise control acoustically or haptically by an electronic output unit. This allows the user of the vehicle and / or passengers of the vehicle to be informed, in particular at an early stage, by the system that the adaptive cruise control is being adjusted. This informs the user of the vehicle at an early stage that the speed is being reduced and / or the distance to the vehicle in front is being increased, since the vehicle in front is likely to adapt its driving behavior based on an environmental situation. This information can be output using the electronic output unit.The electronic output unit can, for example, be an infotainment system or another output system of the vehicle. It is also conceivable that the electronic evaluation unit uses a user's mobile device to output information.

[0049] A further aspect of the invention relates to an electronic driver assistance system with an electronic evaluation unit, wherein the electronic driver assistance system is designed to carry out a method according to one of the preceding claims. In particular, a method according to the previous aspect can be carried out with the driver assistance system just described.

[0050] The electronic driver assistance system may in particular be an adaptive cruise control system.

[0051] In particular, the electronic driver assistance system may comprise a plurality of units and / or subsystems in order to be able to carry out the method of the preceding aspect.

[0052] A further aspect of the invention relates to a vehicle with an electronic driver assistance system according to the previous aspect or an advantageous further development.

[0053] In particular, the vehicle can be a motor vehicle, such as a passenger car or a truck. Optionally, the vehicle can be operated at least partially autonomously or fully autonomously. With the help of the electronic driver assistance system, the vehicle can be operated at least partially autonomously. In particular, the electronic driver assistance system can be used to implement adaptive cruise control of the vehicle based on the vehicle ahead.

[0054] Advantageous embodiments of one aspect can be considered advantageous embodiments of all other aspects. The same applies in reverse.

[0055] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0056] The invention also includes further developments of the electronic driver assistance system according to the invention and of the vehicle according to the invention, which have features as already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the electronic driver assistance system according to the invention and of the vehicle according to the invention are not described again here.

[0057] The invention also includes combinations of the features of the described embodiments.

[0058] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 shows a schematic representation of a vehicle in which adaptive cruise control is carried out based on a vehicle driving ahead of the vehicle; Fig. 2 shows a situation in which a neighboring vehicle cuts in in front of the vehicle in front, which is taken into account early on in the adaptive cruise control of the vehicle; Fig. 3 shows a situation in which a pedestrian crosses the road in front of the vehicle in front, which is taken into account early on in the adaptive cruise control of the vehicle; Fig. 4 shows a situation in which there is a traffic light situation in front of the vehicle in front, which is taken into account at an early stage in the adaptive cruise control of the vehicle; Fig. 5 shows a situation in which the vehicle in front performs a turning maneuver, which is taken into account early on in the adaptive cruise control of the vehicle; and Fig. 6 shows a schematic sequence of an early adjustment of the adaptive cruise control of the vehicle Fig. 1 before the vehicle in front changes its driving behavior.

[0059] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0060] In the figures, functionally identical elements are provided with the same reference numerals.

[0061] In the Fig. 1 shows a vehicle 1 which is at least partially autonomously operable. In particular, the vehicle 1 optionally has a plurality of driver assistance systems, for example to assist a user 2, i.e., for example, a driver, of the vehicle 1 in driving the vehicle 1. For this purpose, the vehicle 1 can be equipped with a driver assistance system 3. The driver assistance system 3 can be implemented or integrated entirely in the vehicle 1, at least partially in the vehicle 1, or externally to the vehicle 1. If the driver assistance system 3 is configured externally to the vehicle 1, corresponding control signals can be transmitted between the vehicle 1 and the driver assistance system 3. In this example, the driver assistance system 3 can be configured as a server, backend, or data cloud.

[0062] In particular, the driver assistance system 3 is an adaptive cruise control (ACC). Thus, the driver assistance system 3 is a cruise control system that incorporates a distance to the vehicle 5 driving ahead of the vehicle 1 as an additional feedback control variable during control. Thus, with the help of the driver assistance system 3, the speed of the vehicle 1 and / or the distance 4 to the vehicle 5 driving ahead can be determined based on the vehicle 5 driving ahead. Consequently, an automated or at least partially autonomous following journey can be carried out here, so that the vehicle 1 follows the vehicle 5 driving ahead automatically. In other words, the vehicle 5 serves as the control object or target object for adaptive cruise control of the vehicle 1.

[0063] Vehicle 1 and the vehicle 5 driving ahead are both traveling in the same lane 6. When vehicle 1 follows the vehicle 5 driving ahead, current ACC systems only react when the vehicle 5 changes its driving style. This can, in turn, lead to uncomfortable and possibly safety-critical situations for passengers of vehicle 1 or other road users. Thus, the present application improves the driver assistance system 1 and thus an adaptive cruise control system such that the driver assistance system 3 can react better in a predictive and thus preventative manner to reactions of the vehicle 5 driving ahead. For this purpose, an automatic and, in particular, system-based early adjustment or adaptation of the adaptive cruise control to potential future reactions and thus changes in the driving style of vehicle 5 takes place.Consequently, the driving style and / or driving behavior of vehicle 1 is adjusted early on, before the preceding vehicle 5 actually makes an adjustment or changes to its driving behavior. This prevents unexpected reactions of vehicle 5 with respect to vehicle 1, as vehicle 1 is already prepared for them in advance. For this purpose, system-based settings of the driver assistance system 1 and / or other safety systems of vehicle 1 can be made.

[0064] In order to be able to react appropriately and in a timely manner to potential future adjustments by the vehicle 5 driving ahead, at least one piece of environmental information or several pieces of environmental information relating to an environmental area 7 located in front of the vehicle 5 driving ahead can be transmitted to an electronic evaluation unit 8 of the driver assistance system 3. The electronic evaluation unit 8 can be a computing unit that performs corresponding processing operations for the driver assistance system 3. In order to be able to estimate or predict whether the vehicle 5 driving ahead will make changes in its driving style or behavior, extensive environmental information or information relating to the environmental area 7 is required.For this purpose, the surrounding information can be captured using a detection unit 9 of the vehicle 1, which can be a camera system and / or sensor system. In addition, a surrounding area 10, which extends, for example, between the vehicle 1 and the preceding vehicle 5, can be captured using the detection unit 9. Thus, additional or expanded information can be provided.

[0065] With a detection unit 11 of the preceding vehicle 5, in particular, the surrounding area 7 in front of the preceding vehicle 5 can be detected. The detection unit 11 can in turn be a camera system and / or an environment detection system of the preceding vehicle 5. It is also conceivable that corresponding environmental information is detected by at least one detection unit 12 of an infrastructure system 3 and transmitted to the electronic evaluation unit 8.

[0066] Such an infrastructure system 13 may, for example, be a traffic monitoring system that has at least one detection unit 12 or several such detection units positioned at various locations in road traffic. Thus, in particular, the area in front of the preceding vehicle 5, which is obscured or not visible to the vehicle 1, can be detected in order to determine whether there is a reason that will immediately or in the future prompt the preceding vehicle 5 to perform its driving behavior, such as braking. This is advantageously taken into account for the early adjustment of the adaptive cruise control.

[0067] Another conceivable possibility for obtaining corresponding information regarding the surrounding area 7 is to consider map data, navigation data and / or traffic data or traffic information as environmental information. In this case, corresponding information regarding a traffic event, a traffic situation, a traffic flow in front of the preceding vehicle 5 can be provided to the evaluation unit 8. This information can be transmitted from a navigation system 14 of the vehicle 1, a navigation system 15 of the preceding vehicle 5 and / or a traffic information system 16 to the electronic evaluation unit 8 via communication connections. Furthermore, it is conceivable that so-called "road experience management" (REM) data is made available, in particular with the help of the traffic information system 16.Thus, for example, swarm data relating to a large number of vehicles of other road users can be evaluated accordingly in order to obtain information regarding the surrounding area 7 for the driver assistance system 3.

[0068] Furthermore, it would be conceivable that the vehicle 1 and / or the preceding vehicle 5 are part of a vehicle fleet, so that corresponding fleet data from the various vehicles of the vehicle fleet can be made available to the electronic evaluation unit 8 in order to be able to derive corresponding information regarding the surrounding area 7 or in another area in the vicinity of the vehicle 1 and / or the preceding vehicle 5.

[0069] Based on the environmental information and / or the conceivable information that can be provided just described, at least one environmental situation 17 or several such environmental situations relating to the environmental area 7 can be analyzed or assessed by the electronic evaluation unit 8 on the system side. In other words, the system analyzes the environmental area 7 to determine whether at least one environmental situation 17 that influences the driving behavior of the vehicle 5 traveling ahead is present, will occur, or can occur in the environmental area 7. Thus, the system can determine whether, based on the at least one environmental situation 17, an at least partial or complete change or adaptation of the driving behavior 18 of the vehicle 5 traveling ahead is caused.If such an environmental situation 17 exists which has or can have an influence on the driving behavior 18 of the vehicle 5 driving ahead, the system can predict whether and, if so, to what extent the driving behavior 18 will change and thus in turn influence the vehicle 1, which uses the vehicle 5 to carry out adaptive cruise control and thus automated driving.

[0070] In particular, a potential future driving behavior 19, which differs in particular from the current driving behavior 18, can be predicted with the aid of the electronic evaluation unit 8, which can have a prediction unit, for example. For this purpose, the analyzed at least one environmental situation 17 and / or the information relating to the environmental area 7 and / or the environmental area 10, for example, is used. In other words, on the basis of the predicted potential future driving behavior 19, a driving behavior 20 of the vehicle 1 can be adapted, to which the adaptive cruise control, in particular, is adapted. Thus, a potential and thus future change in the current driving style 18 is detected early on and used to adapt the adaptive cruise control of the vehicle 1 in advance, i.e. before the vehicle 5 in front exhibits the driving style 19.This allows the driver assistance system 3 to act more proactively and, in particular, more preventively.

[0071] The following figures explain exemplary situations, i.e. environmental situations 17, which may occur.

[0072] In the Fig. 2, when analyzing the at least one environmental situation 17, it can be determined that, for example, a slower neighboring vehicle 21, which is located in a lane 22 adjacent to the lane 9, is driving into lane 6 or cutting in in front of the preceding vehicle 5. This can be detected, for example, by means of front corner radars of the vehicle 1 and / or the vehicle 5. As in the Fig. 2, the vehicle 21 is still changing lanes and has not yet completely pulled in ahead of the vehicle 5 driving ahead. This can be used to predict the potential future driving behavior 19, since here, in particular with a high probability, the vehicle 5 driving ahead will have to brake in order not to drive too close to the vehicle 21 pulling in. Thus, the potential future driving behavior 19 can include a deceleration or braking process. This can be taken into account accordingly by the driver assistance system 3 and the speed of the vehicle 1 can be reduced early on, i.e. before the vehicle 5 driving ahead brakes because of the vehicle 21, for example in order to increase the distance 4.Thus, for example, a comfortable, advanced deceleration of vehicle 1 can be carried out even before the preceding vehicle 5 reacts to the vehicle 21 merging in front of it. Thus, vehicle 1 can react accordingly to the environmental situation 17 before the preceding vehicle 5 has reacted.

[0073] For example, the electronic evaluation unit 8 can be used to calculate how and to what speed the vehicle 5 in front will normally decelerate due to the vehicle 21 cutting in. In contrast, according to the invention, contrary to the prior art, it is now possible to react not only to the current distance to the vehicle 5 in front, but also to the corresponding relative speed and, if applicable, acceleration and deceleration. This can be done even before the vehicle 5 in front has changed its driving behavior 18. This makes it possible to predict the behavior of the vehicle 5 in front in order to be able to react more quickly to the impending deceleration of the vehicle 5 in front. In this way, a comfortable deceleration profile for the vehicle 1 can be derived in advance and implemented preventively. As a result, the operation of the driver assistance system 3 is more situation-adapted.

[0074] This can increase safety because if the vehicle 5 in front detects the merging vehicle 1 too late, the vehicle 5 in front can perform an emergency braking maneuver, which in turn poses a danger to the vehicle 1, since the vehicle 1 must also react quickly. In the worst case, the vehicle 5 can collide with the vehicle 21 if it fails to notice the merging vehicle. In the prior art, this can lead to an adaptive cruise control system being overwhelmed and transferring the corresponding driving task back to the user 2. In contrast, the present application can detect the ambient situation 17 at an early stage and implement a corresponding, precautionary speed reduction.

[0075] The two vehicles 5, 21 determine the speed of vehicle 1 and the ego vehicle, respectively, particularly in this environmental situation 17. In particular, in this environmental situation 17, vehicle 1 should react to vehicle 21 early, before the preceding vehicle 5 actually reacts to it.

[0076] In the Fig. 3, a further possible environmental situation 17 is explained in another conceivable embodiment. In this example, a pedestrian 23, here a crossing pedestrian, crosses lane 6. In this environmental situation 17, corresponding detected information of the moving pedestrian 23 can now be taken into account when analyzing the environmental situation 17. For example, it can be detected that the pedestrian 23 is on or at a zebra crossing or pedestrian crossing, so that the probability of crossing lane 6 is high. The system can therefore estimate how long the pedestrian 23 will need to leave lane 6 again, and depending on how far the vehicle 5 in front is from the pedestrian 23, a future potential driving behavior 19 of the vehicle 5 in front can be predicted.Depending on the speed of the vehicle 5 driving ahead and the distance between the vehicle 5 driving ahead and the pedestrian 23, it is possible to predict how sharply the vehicle 5 driving ahead will decelerate and when it will accelerate again, particularly after the pedestrian 23 has left the lane 6. This can be used to adjust the adaptive cruise control of the vehicle 1 in good time. In addition, when analyzing the environmental situation 17, it can be determined how long the pedestrian 23 needs to cross the lane 6. In this case, the lane 6 relevant for the vehicles 1, 5 can be taken into account.

[0077] When predicting the potential future driving behavior 19, it is primarily possible to predict which trajectory the preceding vehicle 5 will take immediately before the pedestrian 23 leaves the lane 6 again. For this purpose, different driver profiles can be taken into account, for example. An optimal trajectory for the vehicle 1 can be calculated or determined. Predefined optimization criteria can be taken into account. Accordingly, a trajectory of the vehicle 1 can be adjusted accordingly at an early stage, in particular with the aid of the adapted adaptive cruise control.

[0078] Additionally, information regarding the ambient situation 17 and the adjustment of the adaptive cruise control can be output. In particular, using the predicted potential future driving behavior 19, a predictive reaction to an expected behavior of the preceding vehicle 5 for the ambient situation 17 can be performed.

[0079] It is also conceivable that the execution concerning the Fig. 2 and the Fig. 3 also apply to cyclists and other road users.

[0080] By detecting and reacting to the surrounding situation 17 at an early stage, it is possible to avoid the situation where the vehicle 1 has to brake even more strongly than the preceding vehicle 5 when the preceding vehicle 5 brakes. This can increase the safety and, in particular, the comfort of the passengers of the vehicle 1.

[0081] For example, when analyzing the environmental situation 17, a continuous analysis can be performed based on currently transmitted environmental information. It can now be determined that the relevant object, in this case the pedestrian 23, will shortly leave the lane and, accordingly, that immediately after the pedestrian 23 leaves the lane, the vehicle 5 driving ahead will accelerate again, so that the vehicle 1 can henceforth be adjusted accordingly to "continue driving quickly and together." In other words, a human-like reaction to the environmental situation 17 in front of the vehicle 5 driving ahead can occur.

[0082] In the Fig. 4 schematically illustrates another conceivable environmental situation 17. Here, a traffic light or light signal system 27 located in front of the vehicle 5 is analyzed as the environmental situation 17. The information acquired by the detection systems 9, 11 can be used by the infrastructure system 13 and / or the traffic information system 16. In particular, the traffic signal system 24 can be communicatively networked with one of these systems, so that corresponding current information regarding a current and / or future light signal color can be provided as environmental information. Thus, it can be analyzed here when the traffic signal system 24 will switch from red to green or from green to red. This can then be used to predict the future, potential driving behavior 19 of the vehicle 5 traveling ahead.Thus, the light signal color of a traffic light or the traffic light system 24 can be recognized while the vehicle 1 and the vehicle 5 in front are traveling and not only when the vehicle 5 in front is stationary, so that the vehicle 1 can prepare itself accordingly for this situation.

[0083] For example, when the signal changes to green or from red to yellow, a driving behavior of the vehicle 5 ahead can be predicted, which will cause the vehicle 5 ahead to accelerate again. In this case, when adjusting the adaptive cruise control, early acceleration or stronger acceleration can be performed, since otherwise the vehicle 5 ahead could move too far away from the vehicle 1.

[0084] When the signal changes from green to yellow or red, vehicle 1 can be decelerated early or it can be allowed to “roll”, i.e. vehicle 1 can roll to a stop.

[0085] Furthermore, a cyclist crossing the road or a scooter rider crossing the road in front of the preceding vehicle 5 can also be detected as a possible environmental situation 17. It is also conceivable that special traffic signs, such as current STOP signs concerning a construction site, could be detected. A zebra crossing or a pedestrian crossing can also be detected, so that in this case, it can be concluded that the preceding vehicle 5 will drive more carefully in this area.

[0086] In the Fig. 5 shows a turning maneuver 25 of the vehicle 5 driving ahead as a further conceivable scenario of the environmental situation 17. In this case, for example, based on the detection of a direction change indicator, i.e. a turn signal, of the vehicle 5 driving ahead or on navigation or route data transmitted by the vehicle 5, the turning maneuver 25 can be analyzed and thus recognized as an environmental situation 17. In this case, it can now be predicted in advance as a future, potential driving behavior 19 that the vehicle 5 driving ahead will leave the lane 6. For this purpose, shortly before a turn or junction or intersection, the vehicle 5 driving ahead will brake more sharply in order to, as in the Fig. 5, for example, to turn right. In this case, the adaptive cruise control can again be adjusted. In this case, it may happen that vehicle 1 also performs the same turning maneuver 25, and thus the preceding vehicle 5 can still be considered as a control variable or target object. If, in turn, vehicle 1 wishes to continue driving straight ahead, no suitable control object would be available in this case.

[0087] The system can then continue driving quickly until there is another vehicle in front of vehicle 1.

[0088] In the Fig.In other words, Figure 6 again shows an exemplary process regarding the early reaction of the vehicle 1 to an environmental situation 17 which influences the driving behavior 18 of the vehicle 5 traveling in front. In an optional step S1, the vehicle 1 is in an automated following journey behind the vehicle 5 traveling in front. In a step S2, for example, a wide variety of information relating to the environmental area 7 can be recorded and provided to the electronic evaluation unit 8 as environmental information. Subsequently, in an optional step S3, the respective existing environmental situation 17 in front of the vehicle 5 traveling in front can be analyzed or assessed on the basis of the environmental information or the environmental information. In this case, it is primarily determined whether such a situation exists which influences the driving behavior 18 of the vehicle 5 traveling in front.

[0089] When analyzing the at least one environmental situation 17, a probability value relating to a probability that, based on the at least one environmental situation 17, the driving behavior 18 of the vehicle 5 traveling ahead will change in the immediate future can be determined.

[0090] In an optional step S4, the potential future driving behavior 19 of the preceding vehicle 5 can be predicted based on the environmental situation 17. For example, the determined or ascertained probability value can be taken into account. The determined probability value can be compared with a threshold or reference value. The threshold can be used to provide reference conditions or reference situations relating to a wide variety of environmental situations. Should the probability value exceed the threshold, it can be assumed that an actual adjustment of the driving behavior 18 of the preceding vehicle 5 is imminent.In this case, a pre-warning signal can be generated as an electronic signal and transmitted to the driver assistance system 3 so that the driver assistance system 3 can adjust to it on the system side and adapt the adaptive cruise control at an early stage.

[0091] In order to efficiently predict potential future driving behavior, the environmental situation 17 can also be classified, categorized, or ranked based on reference environmental situation categories. Similar situations can thus be retrieved from a database in order to provide the electronic evaluation unit with corresponding reactions or adjustments in driving behavior performed in these situations. Thus, when predicting potential future driving behavior 19, comparative adjustments of the driving behavior of other vehicles in similar environmental situations can be taken into account. This allows for a better prediction of the actual adjustment.

[0092] In a subsequent optional step S5, as already described, the adaptive cruise control of the vehicle 1 can be adapted on the basis of the potential future driving behavior 19, so that it is possible to react early on to corresponding changes in the driving behavior of the vehicle 5 driving ahead.

[0093] To adapt the driving behavior of vehicle 1 to the situation with regard to the future changing driving behavior of the vehicle 5 traveling ahead, the current driving behavior 20 of vehicle 1 can be compared with the potential future driving behavior 19. A comparison result can be used to determine a deviation, so that this can be taken into account when determining the timing and / or type of adaptation of the adaptive cruise control. If it is determined that the vehicle 5 traveling ahead is braking hard, such as in an emergency, a significant discrepancy exists, meaning that vehicle 1 should also reduce its speed accordingly at an early stage and, above all, increase the distance in order to avoid, for example, a rear-end collision.

[0094] In order to be able to adapt the adaptive cruise control more efficiently and, in particular, more intelligently, a potential adaptation time of a possible adaptation of the current driving behavior 18 to the future driving behavior 19 can be predicted when the driving behavior 19 is predicted. The vehicle 1 can thus be informed when the driving behavior 20 of the vehicle 1 should be changed in order to be able to react early to the changes or adaptations of the vehicle 5 driving ahead.

[0095] In an optional step S6, a hint signal can be generated based on the performed adaptation of the adaptive speed control, and based on the generated hint signal, a hint can be output to the user 3 of the vehicle 1 acoustically, optically, and / or haptically by means of an electronic output unit. Thus, the user 2, and thus the driver and / or passenger of the vehicle, can be informed or alerted that the vehicle 1 will perform a deceleration or an acceleration in order to react to the present scenario regarding the environment area 7 in front of the preceding vehicle 5. List of reference signs 1 Vehicle 2 User 3 Driver assistance system 4 Distance 5 Preceding vehicle 6 Lane 7 Environment area 8 Electronic evaluation unit 9 Vehicle detection unit 10 Surrounding area between the vehicle and the vehicle in front 11 Detection unit of the vehicle ahead 12 Recording unit of an infrastructure system 13 Infrastructure system 14 Vehicle navigation system 15 Navigation system of the vehicle ahead 16 Traffic information system 17 Environmental situation 18 Current driving behavior of the vehicle ahead 19 Potential future driving behavior of the vehicle ahead 20 Vehicle handling 21 Neighboring vehicle 22 Adjacent lane 23 pedestrians 24 traffic lights 25 Turning maneuver 26 Electronic output unit

Claims

[1] Method for operating a driver assistance system (3) in a vehicle (1), wherein - with the driver assistance system (3) an adaptive cruise control of the vehicle (1) is carried out as a function of a vehicle (5) driving ahead of the vehicle (1) which is moving in the same lane (6) as the vehicle (1), comprising: - Providing at least one item of environmental information of an environmental area (7) located in front of the preceding vehicle (5) to an electronic evaluation unit (8) of the driver assistance system (3), - analyzing at least one environmental situation (17) in the environmental area (7) in front of the preceding vehicle (5) on the basis of the at least one item of environmental information with the electronic evaluation unit (8), - predicting a potential future driving behavior (19) of the preceding vehicle (5) on the basis of the analyzed at least one environmental situation (17) by the electronic evaluation unit (8), and - adapting the adaptive cruise control of the vehicle (1) on the basis of the potential future driving behavior (19) of the preceding vehicle (1) with the driver assistance system (3), wherein - when analyzing the at least one environmental situation (17), a probability value relating to a probability that, based on the at least one environmental situation (17), the driving behavior (18) of the vehicle (5) traveling ahead will change in the immediate future is determined, wherein the determined probability value is taken into account when predicting the potential future driving behavior (19) of the vehicle (5) traveling ahead. characterized by , that - the determined probability value is compared with a threshold value, and if the probability value exceeds the threshold value, a pre-warning signal is generated and transmitted to the driver assistance system (3) so that the driver assistance system (3) is prepared for a potential adaptation of the driving behavior (18) of the vehicle (5) traveling ahead. [2] Method according to claim 1, characterized by that the adaptive cruise control is adapted in such a way that a distance (4) between the vehicle (1) and the vehicle (5) in front is increased, in particular on the basis of the potential future driving behavior (19) of the vehicle (5) in front, a current speed of the vehicle (1) is reduced. [3] Method according to claim 1 or 2, characterized by, Predicting a potential future trajectory of the preceding vehicle (5) on the basis of the analyzed at least one environmental situation (17) by the electronic evaluation unit (8), wherein the predicted potential future trajectory is taken into account when adapting the adaptive cruise control. [4] Method according to one of the preceding claims, characterized by that when analyzing the at least one environmental situation (17) it is checked whether the at least one environmental situation (17) causes an at least partial change in the driving behavior (18) of the vehicle (5) traveling in front. [5] Method according to one of the preceding claims, characterized by, Comparing a current driving behavior (18) of the vehicle (5) in front with the potential future driving behavior (19) of the vehicle (5) in front by the electronic evaluation unit (8), wherein a corresponding comparison result is taken into account when adapting the adaptive cruise control. [6] Method according to claim 5, characterized by that the comparison result provides a deviation between the current driving behavior (18) of the vehicle (5) in front and the potential future driving behavior (19) of the vehicle (5) in front, wherein a time and / or a type of adaptation of the adaptive cruise control is determined depending on an extent of the deviation. [7] Method according to claim 5 or 6, characterized bythat when predicting the potential future driving behavior (19) of the vehicle (5) driving ahead, a potential adaptation time relating to an adaptation of the current driving behavior (18) to the potential future driving behavior (19) is additionally determined, wherein the potential adaptation time is taken into account when adapting the adaptive cruise control. [8] Method according to one of the preceding claims, characterized by , Categorizing the analyzed environmental situation (17) on the basis of reference environmental situation categories by the electronic evaluation unit (8), wherein a reference environmental situation category assigned to the analyzed environmental situation (17) is taken into account when predicting the potential future driving behavior (19) of the vehicle (1) traveling ahead. [9] Method according to one of the preceding claims, characterized bythat the environmental information is recorded by a recording unit (9) of the vehicle (1), a recording unit (11) of the preceding vehicle (5) and / or a recording unit (12) of an infrastructure system (13) and is made available to the electronic evaluation unit (8). [10] Method according to one of the preceding claims, characterized by that the environmental information is provided to the electronic evaluation unit (8) by a navigation system (14) of the vehicle (1), a navigation system (15) of the vehicle (5) in front and / or a traffic information system (16). [11] Method according to one of the preceding claims, characterized bythat an indication signal is generated on the basis of the adjustment of the adaptive cruise control, wherein on the basis of the generated indication signal, an indication concerning the adjustment of the adaptive cruise control is output to a user (2) of the vehicle (1) acoustically, optically and / or haptically by an electronic output unit (26). [12] Electronic driver assistance system (3) with an electronic evaluation unit (8), wherein the electronic driver assistance system (3) is designed to carry out a method according to one of the preceding claims. [13] Vehicle (1) with an electronic driver assistance system (3) according to claim 12.

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