Method for controlling a vehicle

Abstract

A method for controlling a vehicle is disclosed, the method comprising the following steps: a step (S1) of receiving at least one environment-related information from an environment-related source (3); a step (S2) of receiving a driver input from the driver input interface (2); a step (S3) of generating target parameters for controlling the longitudinal movement from the environment-related information; and a step (S4) of providing the target parameter if the driver input satisfies a predetermined input condition. Furthermore, a device, a vehicle, a computer program product and a storage device for carrying out the method are disclosed.

Description

Technical Field

[0001] The invention relates to a method for controlling a vehicle, a device for carrying out the method, a vehicle, a computer program product and a storage device. Background Art

[0002] One of the main aspects of vehicle development is to reduce the workload of the driver when driving the vehicle. To reduce the workload, it is necessary to let the vehicle take over the driver's tasks. One major driver task is to adjust the longitudinal movement of the vehicle based on relevant information about the environment. For example, after recognizing the end of a traffic jam that the vehicle is approaching, the driver must steer the vehicle to the end of the traffic jam in a safe manner. Another example of such a task is to control the longitudinal movement of the vehicle to adjust a safe distance between the vehicle and the object after recognizing a dynamic object in front of the vehicle. Summary of the invention

[0003] Therefore, one object of the present invention is to reduce the workload of the driver, these tasks should be continued by the vehicle itself.However, since the driver controls the vehicle when starting to perform such tasks, another object of the present invention is to initiate the handover of such tasks by the driver himself.

[0004] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are indicated by the subject matter of the dependent claims.

[0005] According to the present invention, a method for controlling a vehicle, in particular a longitudinal movement of a vehicle, is provided, wherein the method comprises the following steps:

[0006] - receiving at least one environment-related information from an environment-related source;

[0007] - receiving a driver input from a driver input interface;

[0008] - generating target parameters for controlling longitudinal motion based on environmental information; and

[0009] - If the driver input meets predetermined input conditions, the target parameter is provided.

[0010] In the step of generating the target parameters, a determination or calculation of the target parameters is performed, wherein the last target parameters are available but not yet sent to other systems or devices that can use the target parameters to control the longitudinal movement of the vehicle. The step of providing the target parameters may include sending the target parameters to at least one of the other systems or devices that can use the target parameters to control the longitudinal movement of the vehicle. This means that the longitudinal movement of the vehicle is controlled by providing the target parameters.

[0011] The target parameters may be transmitted to at least one vehicle control unit configured to control movement of the vehicle.

[0012] The target parameter may be a constant value or a set of values ​​which is time-based and / or distance-based and / or speed-based. This means that if the environment-related information contains information about an object that the vehicle is approaching, the target parameter may be generated based on the distance between the vehicle and the object and / or based on the time required for the vehicle to reach the object and / or based on the speed of the vehicle and / or the object. This means that the target parameter may be adjusted depending on the distance covered by the vehicle when approaching the object, or the target parameter may be adjusted depending on the time elapsed when approaching the object.

[0013] The generation of the target parameter can be carried out for a long time, or can be generated from the moment when the predetermined input condition is met. In addition, the target parameter can also be generated only once, that is, when the predetermined input condition is met.

[0014] According to one aspect of the present invention, the target parameter is generated by an accelerator pedal unit and / or is generated according to an accelerator pedal position. Preferably, the predetermined input condition is the release of the accelerator pedal.

[0015] Further preferably, the method is performed in a one-pedal drive mode of the vehicle, wherein vehicle motion is controlled by the driver solely in response to accelerator pedal input. The one-pedal drive mode may be achieved by using an electric propulsion system that recovers or dissipates kinetic energy and / or by using a hydraulic retarder to dissipate kinetic energy.

[0016] Preferably, the target parameter comprises a target vehicle acceleration or a target vehicle deceleration and / or a target vehicle speed and / or a target propulsion torque or force or a target deceleration torque or force.

[0017] Preferably, the environment-related information comprises information about at least one object approached by the vehicle.

[0018] It is further preferred that a recognition step of the at least one object and / or a recognition step of the movement of the at least one object and / or a classification step of the at least one object are performed. The recognition step may include detecting an object that the vehicle is approaching. The recognition step of the movement of the object may include detecting the position and speed of the object and the direction of movement of the object in the case of object movement. Preferably, each of these steps is performed by the vehicle or a vehicle system configured to be suitable for environmental recognition. In particular, the vehicle may include one or more units configured to be able to perform these steps. Such a unit may be connected to an environmental detection device or include an environmental detection device, as described later.

[0019] In particular, the at least one object may include a junction or a pedestrian crossing, a stop sign or a yield sign, a traffic light, another vehicle, another traffic participant (such as a pedestrian), a speed limit, a sharp bend or a steep section of the road. Furthermore, the object may include a static object that does not move or a dynamic object that moves in particular towards or away from the vehicle. This is a non-limiting list of categories that may be performed for the classification step. Preferably, the driver can make settings by selecting which categories the method is to be applied to.

[0020] Preferably, the target parameter is generated in such a way that it is used to adjust the distance and / or the speed between the vehicle and the object.

[0021] Below, some case examples will be shown to define the tasks to be solved by the present invention. These examples are not intended to limit the present invention, and the present invention does not necessarily handle all of the following case examples:

[0022] Example 1:

[0023] Situation: Approaching an intersection with a stop sign or red light.

[0024] Task: Slow down to a stop at a stop sign or stop light.

[0025] Example 2:

[0026] Situation: Approaching an intersection (including roundabouts) with or without a yield sign (equal priority roads).

[0027] Mission: Slow down to a speed that gives priority to other vehicles.

[0028] Example 3:

[0029] Situation: Approaching a crosswalk with pedestrians next to or on it.

[0030] Mission: Slow down and stop at the crosswalk.

[0031] Example 4:

[0032] Situation: Approaching a lower speed limit than the current one (including speed limit signs or city limits).

[0033] Mission: Slow down to the speed limit when you reach the sign.

[0034] Example 5:

[0035] Situation: Approaching a sharp turn.

[0036] Task: Slow down enough to navigate the curve at a safe speed.

[0037] Example 6:

[0038] Situation: Approaching a static object.

[0039] Task: Slow down to a safe stopping distance.

[0040] Example 7:

[0041] Situation: Approaching dynamic objects (vehicles, pedestrians, bicycles).

[0042] Task: Slow down to the speed of a slower object.

[0043] According to some of the above examples, target parameters are generated to adjust the distance and / or speed between the vehicle and the object. If the vehicle follows another vehicle with a lower speed, the target parameters allow the movement of the vehicle to be controlled to adjust the distance and / or speed between the two vehicles. According to one aspect of the invention, when actively driving by using the accelerator pedal, the driver allows the target parameters to be provided by releasing the accelerator pedal (in this case, this means that releasing the accelerator pedal corresponds to a predetermined input condition) or by lightly stepping on the brake pedal (in this case, this means that lightly stepping on the brake pedal corresponds to a predetermined input condition). For example, if the driver recognizes an object in the environment in front of the vehicle, such as another vehicle he wants to follow, the driver allows the target parameters to be provided, wherein the target parameters are generated to adjust the distance and relative speed between the two vehicles, because the category and movement information (speed and distance) of the object (another vehicle) are provided to the method according to the invention. If both vehicles are commercial vehicles, target parameters can be generated so that the vehicle approaches the other vehicle to adjust the distance and relative speed between the two for platooning.

[0044] Preferably, the method comprises a further step, wherein the longitudinal motion of the vehicle is controlled according to the target parameter by using at least one motion control system of the vehicle. According to this aspect, the target parameter is used to control the motion control system. The at least one motion control system may include a deceleration system, in particular a braking system, a retarder, a regenerative deceleration system and / or a propulsion system. The braking system may include a friction braking system, in particular an electronic braking system. The retarder may be configured as a hydraulic retarder, or may include an electric braking resistor combined with an electric motor, which is used to decelerate the vehicle. The electric motor may be combined with an electric energy storage device in addition or alternatively to form a regenerative deceleration system. The propulsion system may include an internal combustion engine (e.g., a fuel or diesel engine) and / or an electric motor. In addition, a hydrogen-based propulsion system may also be provided.

[0045] Preferably, the driver input interface comprises a brake pedal, wherein the predetermined input condition is a predetermined brake pedal input. In particular, the predetermined brake pedal input may be a driver lightly pressing the brake pedal, wherein preferably no deceleration effect is applied to the vehicle.

[0046] Additionally or alternatively, the driver input interface includes an accelerator pedal, wherein the predetermined input condition is a predetermined accelerator pedal input, preferably a 0% input, which represents a complete release of the accelerator pedal. According to another aspect, the predetermined input condition is a predetermined accelerator pedal input between a 0% accelerator pedal input and an accelerator pedal input less than a maximum accelerator pedal input. According to this aspect, the target parameter can be provided earlier without completely releasing the accelerator pedal.

[0047] Additionally or alternatively, the driver input interface comprises an input device, in particular an input device having a button, a switch or a lever, preferably a deceleration lever, wherein the predetermined input condition is a predetermined input via the input device. According to one aspect, the driver can allow the target parameter to be provided by actively switching the input device to a certain switching state.

[0048] Preferably, the environment-related source comprises an environment detection device, in particular at least one sensor and / or at least one receiver. The sensor may comprise a radar sensor and / or a lidar sensor and / or may comprise an optical sensor, such as a camera. The receiver may, for example, comprise a GPS receiver configured to receive data to determine the vehicle's position.

[0049] Additionally or alternatively, the environment-related source comprises stored environment data. The data may comprise digital map data, which is used by a navigation system of the vehicle. In particular, the stored environment data may alternatively or additionally be used for the environment detection device. For example, if the environment detection device does not detect any objects (e.g. a crosswalk, a junction or a sharp curve), these objects may be provided from the stored environment data.

[0050] Preferably, the method comprises a further step, wherein control parameters are received from a control parameter source, wherein the method is performed in dependence on the control parameters. Preferably, the control parameters comprise activation parameters or vehicle status information, preferably status information from at least one control system. In particular, the control parameters may comprise predetermined input conditions, which the driver can adjust via the control parameter source. Preferably, the control parameter source is part of a human machine interface (HMI), e.g. comprising a display or a switch, which the driver can use to adjust the predetermined input conditions. Advantageously, if the driver does not wish to perform the function of the invention in the vehicle, he can deactivate the function using the control parameter source.

[0051] Preferably, the method comprises a further step, wherein stop control parameters are received from a stop control parameter source, wherein at least the execution of the step of providing target parameters is interrupted or set to a state that has no effect on the at least one motion control system. The stop control parameter source may comprise a deceleration monitoring unit, which is configured to be able to monitor the deceleration of the vehicle during the execution of the method according to the invention. If the deceleration of the vehicle according to the target parameters is too low to reach a safe state, or if the motion control system using the target parameters is unable to apply a deceleration to the vehicle to reach a safe state, other motion control systems, for example including driver assistance systems such as AEBS, may take over the motion control of the vehicle or at least the generation of the target parameters.

[0052] According to another aspect, the stop control parameter source may include a driver input interface, for example, an accelerator pedal and / or a brake pedal is part of the driver input interface, wherein the execution of the method is stopped when the driver uses the driver input interface. For example, if the driver wants to decelerate to a greater extent than the deceleration achieved according to the target parameters or the deceleration allowed by the target parameters due to restrictions, the driver can override the target parameters by generating a larger target parameter using the input interface (in particular the brake pedal). According to another example, if the driver wants to accelerate to a greater extent than the acceleration achieved according to the target parameters or the acceleration allowed by the target parameters due to restrictions, the driver can override the target parameters by generating a larger target parameter using the input interface (in particular the accelerator pedal). After using the driver input interface, in particular when the driver releases the brake pedal or the accelerator pedal, the method according to the present invention can take over control again by generating and providing the target parameters as described above.

[0053] Preferably, the method comprises a further step in which at least one output information is sent to an output device, wherein the at least one output information comprises a notification and / or a warning and / or a control parameter for other vehicle systems. The output device may comprise an HMI for warning the driver acoustically, visually and / or haptically and for informing the driver about situations in which he must take over control of the vehicle again, in particular safety-critical situations. Additionally or alternatively, the output device may inform the driver when a function of the method is active. Furthermore, information may also be sent to other vehicle systems.

[0054] According to another aspect of the present invention, a device for executing the above method is provided, wherein the device comprises an electronic data processing device configured to be able to execute the method, wherein the device is configured to be suitable for attachment in a vehicle. For a person skilled in the art, it is obvious that he can similarly transfer the embodiments of the above method to the configuration of the device.

[0055] Preferably, the device comprises an interface configured to receive at least one environment-related information from an environment-related source. The environment-related source may be configured as described above and, according to another aspect of the present invention, may be part of the device. Preferably, the interface comprises an electronic connection, whereby the at least one environment-related information may be received.

[0056] Preferably, the device comprises an interface configured to receive driver input from a driver input interface. The driver input interface may be configured as described above and, according to another aspect of the invention, may be part of the device. Preferably, the interface comprises an electronic connection, whereby driver input may be received.

[0057] Preferably, the device comprises an interface configured to be able to provide the target parameters, in particular via a data line (eg a bus connection), in particular to other systems of the vehicle. Preferably, the interface comprises an electronic connection, whereby the target parameters can be provided.

[0058] According to another aspect of the present invention, a vehicle, in particular a commercial vehicle, is provided. The vehicle is configured to be able to perform the method as described above or to include the device as described above. In particular, the vehicle can be configured as a bus, a truck or a combination of a tractor and at least one trailer. For a person skilled in the art, it is obvious that he can transfer the embodiments of the above method similarly to the configuration of the vehicle.

[0059] According to another aspect of the present invention, a computer program product is provided. The computer program product comprises a code unit, which is configured to perform the method described above when the code unit is executed on an electronic data processing device. The electronic data processing device is preferably an electronic data processing device of the device described above.

[0060] According to another aspect of the present invention, a storage medium is provided, the storage medium comprising the computer program product as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The present invention will be described below with reference to the accompanying drawings.

[0062] Figure 1 A flow chart of a method according to the invention is shown.

[0063] Figure 2 A block diagram is shown in which a device for carrying out the method is shown connected to other elements of a vehicle.

[0064] Figure 3 A deceleration profile of a vehicle is shown as the vehicle approaches a stop sign. DETAILED DESCRIPTION

[0065] Figure 1 A flow chart of a method according to the invention is shown.

[0066] The method comprises the required steps S1 to S4 , wherein the further steps S5 to S8 are optional.

[0067] In step S1, at least one environment-related information is received from an environment-related source. The information may be related to an object towards which the vehicle is moving and to which it must react. As mentioned above, this may be, for example, another vehicle or a stop sign.

[0068] In step S2, a driver input is received from a driver input interface. As described above, this may be an accelerator pedal or a brake pedal or other input device. In the case of using an accelerator pedal or a brake pedal or a corresponding input device, the driver may generate a plurality of driver inputs depending on the pedal position. However, according to the present invention, as described below, the driver must satisfy a predetermined input condition in order to perform all necessary steps S1 to S4.

[0069] According to step S3, target parameters for controlling longitudinal motion are generated according to the environment-related information, the target parameters including target vehicle acceleration or target vehicle deceleration and / or target vehicle speed and / or target propulsion torque or force or target deceleration torque or force. The target parameters are used as input values ​​of a motion control system, wherein the motion control system controls the motion of the vehicle by trying to adjust corresponding values ​​according to the target parameters.

[0070] The at least one motion control system may comprise a deceleration system, in particular a braking system, a retarder, a recuperation deceleration system and / or a propulsion system as described above.

[0071] Furthermore, if the driver input meets a predetermined input condition, the target parameter is provided according to step S4. For example, the target parameter may be provided to a motion control system for controlling the longitudinal motion of the vehicle according to the target parameter according to step S5. The predetermined input condition is that the driver taps the brake pedal, which preferably does not apply a braking effect to the vehicle, or the input condition may be the release of the accelerator pedal, preferably fully released. Other predetermined input conditions are as described above.

[0072] At the beginning of the method, step S6 is shown, in which control parameters are received from a control parameter source. The method is executed in dependence on the control parameters, wherein the control parameters comprise activation parameters or vehicle state information, preferably state information from the at least one control system. Depending on the activation parameters that can be set by the driver or the vehicle, in particular other vehicle systems such as a motion control system as described above, the execution of the entire method or at least step S4 can be suppressed or the functions of the method according to the invention can be deactivated. This can be selected if the functions of the method are used as comfort functions rather than safety-related functions.

[0073] According to a further step S7, stop control parameters are received from a stop control parameter source, wherein at least the execution of step S4 is interrupted or set to a state that has no effect on the at least one motion control system. This means that the execution of the method can be stopped only by suppressing step S4 or even by suppressing or interrupting steps S1 to S4. The stop control parameter source may include a deceleration monitoring unit, which is configured to monitor the deceleration of the vehicle during the execution of the method according to the invention. If the deceleration of the vehicle according to the target parameters is too low to reach a safe state, or if the motion control system using the target parameters cannot apply a deceleration to the vehicle to reach a safe state, other motion control systems (e.g. including a driver assistance system such as AEBS) may continue to control the vehicle in motion or at least continue to generate the target parameters. According to another aspect, the stop control parameter source may include a driver input interface, such as an accelerator pedal or a brake pedal, whereby the driver can override the target parameters provided in step S4.

[0074] Optionally, the method may further comprise a step S8, wherein at least one output information is sent to an output device, wherein the at least one output information comprises a warning and / or a control parameter. The warning may be acoustic, visual and / or haptic based and informs the driver of a situation, in particular a safety-critical situation, in which he must take over control of the vehicle again. For example, if the deceleration achieved when approaching an object such as a stop sign, a junction or a pedestrian is not sufficient to stop before reaching the object, because the deceleration system decelerates only by using a recuperation deceleration system, wherein the electrical storage of this system can no longer store any electrical energy, the driver must take over control after the warning is issued via the output device and must depress the brake pedal to decelerate using the friction brakes of the vehicle.

[0075] Figure 2 A block diagram is shown, wherein the apparatus for executing the method is shown connected to other elements of the vehicle. All elements shown here as blocks may represent apparatus or general hardware elements as described above.

[0076] An apparatus 1 is shown which is configured to be able to carry out the method according to the invention.

[0077] The device 1 is connected to the driver input interface 2. The driver input interface 2 includes an accelerator pedal, a brake pedal and an input device. The driver can use one of these devices according to Figure 1 The device 1 is configured to receive the driver input from the driver input interface 2 according to step S2 and execute the method accordingly.

[0078] The device 1 is also connected to an environment-related source 3, wherein at least one environment-related information is provided to the device 1. The environment-related source 3 comprises environment detection means, in particular sensors and / or receivers, as described above. The environment-related source 3 may alternatively or additionally comprise stored environment data, as described above. By using the environment-related source 3, the device 1 can use the environment-related information to perform the method. As described above, the environment detection means may comprise an optical sensor, such as a radar sensor or a camera device or a GPS receiver configured to receive data to determine the position of the vehicle. Additionally or alternatively, the environment-related source comprises stored environment data, such as map data.

[0079] Furthermore, the device 1 is connected to a motion control system 4, which comprises a deceleration system and a propulsion system as described above. After generating the target parameters according to step S3, the device 1 provides the target parameters to the motion control system 4 according to step S4, provided that the driver input meets a predetermined input condition. This means that the driver can actively activate at least providing the target parameters S4. As described above, such a driver input can be releasing the accelerator pedal, lightly pressing the brake pedal or switching the input device to a corresponding switching state.

[0080] Furthermore, the device is connected to a control parameter source 5. The control parameter source 5 may comprise an HMI, whereby the driver can adjust the control parameters that the device is able to receive according to step S6. Thus, the driver can activate or deactivate the execution of at least step S4 or of the entire method by the device 1. In particular, when the method is configured as a comfort function, the driver can deactivate this function. The HMI may be configured as described above. Furthermore, the control parameter source 5 may also comprise other vehicle systems. For example, if the target parameters generated by the device 1 and provided to the motion control system are specifically for deceleration by recuperation, the control parameter source 5 sends a message to the device 1 when the electrical energy storage is full and recuperation is no longer possible. In this case, the device 1 interrupts or deactivates the execution of the method or at least the execution of step S4.

[0081] In addition, the device 1 is connected to a stop control parameter source 6, wherein the stop control parameters are provided to the device 1. According to the stop control parameters, the device 1 at least stops executing step S4 or sets step S4 to a state that has no effect on the at least one motion control system 4. The stop control parameter source 6 can be configured as described above. For example, the stop control parameter source 6 may include a driver assistance system, such as an AEBS, an anti-collision system or a driver assistance system (all not shown). These systems can take over the motion control of the vehicle or at least the generation of target parameters. In addition, the stop control parameter source 6 may include a driver input interface, such as an accelerator pedal and / or a brake pedal and / or other input devices (all not shown) as described above.

[0082] Furthermore, an output device 7 is connected to the device 1 , wherein warnings or status information are sent to the driver or other vehicle systems, as described above.

[0083] The device 1 comprises electronic data processing means configured to be able to carry out the method according to the invention, wherein the device 1 is configured to be suitable for attachment in a vehicle.

[0084] Figure 2 A non-limiting embodiment of the present invention is shown. According to other embodiments not shown, some of the elements shown in the figures are not present or are present in simplified form. For example, the motion control system 4 may include only a deceleration or propulsion system. The control parameter source 5 may include only an HMI or only one or more vehicle systems. The environment-related source 3 may include only one or two of the elements shown. The output device 7 may include only an HMI or only one or more vehicle systems.

[0085] Figure 3 A deceleration profile of a vehicle is shown as the vehicle approaches a stop sign.

[0086] In the figure, the vehicle is shown from above, approaching the stop sign from the right. Three distances d1, d2, d3 are shown in the figure, describing the distance between the vehicle and the stop sign when the driver input meets the predetermined input conditions. According to step S1, the stop sign is recognized as environment-related information from an environment-related source (e.g. a camera or map data). This means that according to step S3, target parameters are generated with the aim of stopping the vehicle safely at the stop sign. In order to meet the predetermined input conditions, the driver presses the brake pedal and / or releases the accelerator pedal or switches the input device to the corresponding switching state.

[0087] In this example, the target parameter generated according to step S3 is a target deceleration, which results in the speed profile shown over the corresponding distance. Since in this example the target deceleration generated in step S3 is limited to a maximum value, for example in order to provide the driver with a minimum comfort or because only a recuperative deceleration system is used in this case, there is a minimum distance from which the vehicle can only be stopped according to the target parameter generated according to step S3. If the method is started at a position closer to the stop sign than the minimum distance, a warning is output to the driver informing him of the situation in which the vehicle cannot be stopped at the stop sign according to the generated target parameters.

[0088] Starting from distance d1 is not safety critical. The vehicle can reduce its speed according to speed v1 and can stop at the stop sign. Distance d2 is the minimum distance at which the vehicle can only stop according to the target parameters generated in step S3. This means that the maximum target deceleration as a target parameter is generated according to step S3, and the vehicle can still stop safely at the stop sign, as shown by its speed curve v2.

[0089] Starting from a distance d3 which is less than d2, the maximum target parameter that can be generated according to step S3 is not sufficient to safely stop the vehicle at the stop sign, as shown by the speed curve v3 which has the same shape as the speed curve v2. Here, according to step S8, a message or a warning is output to the driver, informing him to intervene. By using the brake pedal, the driver can generate a higher target parameter or deactivate the function of the method according to the invention as described above. This may result in a higher deceleration of the vehicle and a safe stop at the stop sign according to the speed curve v3'.

[0090] Reference numerals list

[0091] 1 Device

[0092] 2 Driver input interface

[0093] 3 Environmental related sources

[0094] 4 Motion Control System

[0095] 5 Control parameter source

[0096] 6 Stop control parameter source

[0097] 7 Output Devices

[0098] S1 to S8 Method steps

Claims

1. A method for controlling a vehicle, wherein: The method comprises the following steps: - Step (S1): receiving at least one environment-related information from an environment-related source (3); - Step (S2): receiving driver input from the driver input interface (2); - Step (S3): generating target parameters for controlling longitudinal movement according to the environment-related information; and - Step (S4): If the driver input satisfies a predetermined input condition, a target parameter is provided.

2. The method according to claim 1, wherein: The target parameters include a target vehicle acceleration or a target vehicle deceleration and / or a target vehicle speed and / or a target propulsion torque or force or a target deceleration torque or force.

3. The method according to any one of the preceding claims, wherein: The environment-related information includes information about at least one object that the vehicle is approaching.

4. The method according to claim 3, wherein: A step of identifying the at least one object and / or a step of identifying a movement of the at least one object and / or a step of classifying the at least one object is performed.

5. The method according to claim 3 or 4, wherein: In step (S3), target parameters are generated in a manner for adjusting the distance and / or speed between the vehicle and the object.

6. The method according to any one of the preceding claims, wherein: The method comprises the further step (S5) of controlling the longitudinal motion of the vehicle according to the target parameter by using at least one motion control system (4) of the vehicle, wherein preferably, The at least one motion control system (4) comprises a deceleration system, in particular a braking system, a retarder, a recuperation deceleration system and / or a propulsion system.

7. The method according to any one of the preceding claims, wherein: The driver input interface (2) comprises a brake pedal, wherein the predetermined input condition is a predetermined brake pedal input; and / or The driver input interface (2) comprises an accelerator pedal, wherein the predetermined input condition is a predetermined accelerator pedal input, preferably an input of 0%; and / or The driver input interface (2) comprises an input device, which in particular has a button, a switch or a lever, preferably a throttle lever, wherein the predetermined input condition is a predetermined input via the input device.

8. The method according to any one of the preceding claims, wherein: The environment-related source (3) comprises an environment detection device, in particular at least one sensor and / or at least one receiver; and / or Environment-related sources (3) include stored environment data.

9. The method according to any one of the preceding claims, wherein: The method comprises a further step (S6) of receiving control parameters from a control parameter source (5), wherein the method is performed in dependence on the control parameters, the control parameters preferably comprising activation parameters or vehicle status information, preferably status information from at least one control system (4).

10. The method according to any of the preceding claims, wherein: The method comprises a further step (S7): receiving a stop control parameter from a stop control parameter source (6), wherein at least the execution of step (S4) is interrupted or set to a state having no effect on at least one motion control system (4).

11. The method according to any one of the preceding claims, wherein: The method comprises the further step (S8) of sending at least one output message to an output device (7), wherein the at least one output message comprises a notification and / or a warning and / or a control parameter.

12. A device (1) for performing the method according to any one of claims 1 to 11, wherein: The device (1) comprises an electronic data processing device configured to be able to perform the method, wherein the device (1) is configured to be suitable for attachment in a vehicle.

13. A vehicle, in particular a commercial vehicle, wherein: The vehicle is configured to be able to perform a method according to one of claims 1 to 11 or comprises a device ( 1 ) according to claim 12 .

14. A computer program product, wherein: The computer program product comprises code means configured to perform the method according to one of claims 1 to 11 when the code means are executed on an electronic data processing device.

15. A storage medium, wherein: The storage medium comprises a computer program product according to claim 14.

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