Method for controlling vehicle speed with adaptive cruise control system and corresponding system

Abstract

A method for adaptively controlling the speed of a motor vehicle by means of an adaptive cruise control system, in which the method: sets or defines a target speed for the motor vehicle; detecting at least a distance and a relative speed with respect to an object traveling in front of the motor vehicle by means of at least one sensor; if the speed of the object is smaller than the set speed, setting the speed of the motor vehicle to be controlled according to the object speed of the object; detecting a lateral acceleration of the motor vehicle; and preventing automatic acceleration, in particular automatic acceleration to the target speed, of the motor vehicle to be controlled in the event that the detection of the object is lost. The invention also provides for preventing automatic acceleration, in particular automatic acceleration to a target speed, of the motor vehicle to be controlled only during a travel or travel in which the detected lateral acceleration of the motor vehicle corresponds to a non-zero lateral acceleration limit value or exceeds the lateral acceleration limit value in the event of a loss of detection of the object.

Description

Technical Field

[0001] The present invention relates to a method for adaptively controlling the speed of a motor vehicle using an adaptive cruise control system as claimed in claim 1, an adaptive cruise control system for a motor vehicle as claimed in claim 6, and a motor vehicle having the adaptive cruise control system as claimed in claim 12. Background Art

[0002] Known adaptive cruise control systems (ACC) have a distance sensor for detecting the distance to an object detected in front of the motor vehicle, and also have a control system, which is used to form a control variable for the driving speed of the motor vehicle at least as a function of a set distance to the detected object, for example an object traveling ahead, the distance being determined at least by the instantaneous driving speed and / or a predefined set speed, at least the instantaneous driving speed and the distance to the object in front of the motor vehicle being able to be fed in as actual variables.

[0003] DE 10 2005 032 182 A1 describes an ACC method for controlling the speed of a motor vehicle, wherein a sensor detects a target vehicle travelling ahead and sets the speed of the motor vehicle to be controlled as a function of the speed of the target vehicle. In the known method, in the event of loss of detection of an object, automatic acceleration of the controlled motor vehicle is prevented for a certain suspension time, the suspension time being determined as a function of the lateral acceleration of the controlled motor vehicle, a non-zero suspension time being defined even if the detected lateral acceleration is zero.

[0004] This improves safety in preventing a collision between the motor vehicle and the target vehicle, in particular in situations where the target vehicle is traveling along a sharp curve beyond the detection range of the sensor, but the target vehicle continues to travel at a set distance in front of the motor vehicle without being detected. If the automatic acceleration of the motor vehicle is not controlled, there is a risk that the motor vehicle will collide with the target vehicle. Summary of the invention

[0005] Based on this object, the present invention provides a method for adaptively controlling the speed of a motor vehicle by means of an adaptive cruise control system and a corresponding adaptive cruise control system, which avoids unnecessary limitation of the speed of the motor vehicle. In addition, a motor vehicle having such an adaptive cruise control system is also provided.

[0006] This object is achieved by the features of claims 1 , 6 and 12 .

[0007] According to a first aspect, the invention relates to a method for adaptively controlling the speed of a motor vehicle using an adaptive cruise control system (ACC), wherein the method:

[0008] a) setting or limiting a target speed for said motor vehicle,

[0009] b) detecting at least the distance and the relative speed with respect to an object travelling in front of the motor vehicle by means of at least one sensor,

[0010] c) if the speed of the object is less than the set speed, setting the speed of the motor vehicle to be controlled according to the object speed of the object,

[0011] d) detecting a lateral acceleration of the motor vehicle, and

[0012] e) preventing automatic acceleration of the motor vehicle to be controlled, in particular automatic acceleration to the target speed, in the event of a loss of detection of the object, in particular when the motor vehicle is turning.

[0013] The loss of detection of an object is preferably detected actively, for example by the absence of a detection signal from at least one sensor of the adaptive cruise control system, or by at least one sensor delivering an implausible detection signal. For example, such a sensor may be a radar sensor or a lidar sensor.

[0014] As described above, this can improve safety for a motor vehicle approaching an object, for example a motor vehicle traveling ahead, in particular in situations where the object cannot be detected because it has moved outside the detection range of the distance sensor, for example due to being around a sharp bend, but the object is still in front of the motor vehicle or is traveling ahead of the motor vehicle. If the controlled motor vehicle is not prevented from automatically accelerating, in particular to reach a target speed after losing detection of the object, there is a risk that the motor vehicle will hit or push the object.

[0015] The target speed of the motor vehicle can be set by pressing the SET button of the operating device of the adaptive cruise control system, and then set to the speed at which the motor vehicle is currently traveling or the maximum speed allowed by the current travel route.

[0016] It is also possible to set or fix a target speed of the motor vehicle as a target speed related to the lateral acceleration, which may result in a safety gain when cornering. This target speed of the motor vehicle related to the lateral acceleration preferably takes precedence over the set speed set by actuating the SET button or over the object speed of the object in subsequent operation of the motor vehicle, so that, in particular during cornering, it may happen that a target speed of the motor vehicle related to the lateral acceleration that is subsequently set is less than the object speed, so that the target is "lost" over time. Alternatively, the target speed related to the lateral acceleration may also be equal to or greater than the object speed of the object, so that the speed of the motor vehicle has to be reduced when cornering as part of the ACC control when following the object.

[0017] The target speed related to the lateral acceleration may also be greater than the target speed set via the SET button. In this case, it may be arranged that the lower target speed set via the SET button takes precedence over the higher target speed related to the lateral acceleration, and vice versa, that the higher target speed related to the lateral acceleration takes precedence over the lower target speed set via the SET button or key.

[0018] According to a first aspect, the present invention proposes:

[0019] f) in the event of a loss of detection of the object, automatic acceleration of the motor vehicle to be controlled, in particular automatic acceleration to the target speed, is prevented only during a journey or trip in which the detected lateral acceleration of the motor vehicle corresponds to a non-zero lateral acceleration limit value or exceeds the lateral acceleration limit value.

[0020] In other words, in the method, if the detected lateral acceleration of the motor vehicle corresponds to a non-zero lateral acceleration limit value or exceeds this lateral acceleration limit value, the motor vehicle is automatically maintained at the object speed or the target speed related to the lateral acceleration, whichever is lower, in particular when turning, and is prevented from accelerating to the set target speed.

[0021] Otherwise, ie if the detected lateral acceleration of the motor vehicle is less than the lateral acceleration limit value, no such prevention takes place and the inventive improved ACC control accelerates the motor vehicle to a corresponding set or effective target speed.

[0022] For example, the lateral acceleration limit is greater than or equal to 0.5g (m / s 2 ), preferably greater than or equal to 1.0 g (m / s 2 ).

[0023] On the one hand, the measure has the effect that, in particular, only the signal of at least one lateral acceleration sensor already present in modern motor vehicles, for example as part of a driving dynamics control system, is used to decide whether automatic acceleration of the controlled motor vehicle should be prevented when driving without detecting an object. This advantageously reduces the amount of sensor technology required.

[0024] The present invention further recognizes that high lateral acceleration of a motor vehicle is more likely to occur on a sharp curve with a small radius of curvature, while low lateral acceleration is more likely to occur on a wide curve with a large radius of curvature. Therefore, the probability of target vehicle detection being lost is greater under high lateral acceleration than under low lateral acceleration.

[0025] In the context where the detection loss of an object (target vehicle) cannot always be determined with sufficient certainty, the present invention utilizes the above relationship and prevents the motor vehicle to be controlled from automatically accelerating to the target speed (v_set or v_set_curve) only in the case of a relatively high lateral acceleration (a_lat >= a_lat_limit), which indicates that the bend is rather tight and confirms the detected detection loss. On the one hand, this increases the certainty of the detection loss of the object.

[0026] On the other hand, in the case of a relatively low detected lateral acceleration (a_lat < a_lat_limit), which indicates that the bend is rather wide and makes the detected detection loss seem less likely, it is therefore not necessary to prevent the motor vehicle from accelerating to the target speed (v_set or v_set_curve).

[0027] Further advantageous embodiments of the invention can be shown in the dependent claims.

[0028] Preferably, in the method, in particular only during a holding period that starts at the loss time of the detection loss of the object and ends at an end time, the motor vehicle to be controlled is prevented from automatically accelerating to the target speed, and the end time:

[0029] a) corresponds to a first end time point at which the lateral acceleration of the motor vehicle has dropped below the lateral acceleration limit value, or

[0030] b) corresponds to a second end time point, which is the sum of the first end time point and a predetermined or parameterizable time interval.

[0031] In other words, in the method, in particular only during the holding period, the motor vehicle automatically maintains at the object speed or the target speed related to the lateral acceleration, whichever is lower, and is prevented from accelerating to the target speed.

[0032] The first end time point at which the lateral acceleration of the motor vehicle has dropped below the lateral acceleration limit value marks a time point at which, due to the low lateral acceleration, it can be assumed that the bend has widened again (larger radius of curvature), so that an object traveling ahead can enter the detection range of the distance sensor again, or it can be assumed that the object ahead has accelerated so strongly in the bend that it has moved out of the detection range of the distance sensor, and when there is a relatively low lateral acceleration, the motor vehicle can accelerate to the target speed without danger.

[0033] The second end time point is later than the first end time point because the specified or parameterizable time interval is added to the first end time point as a safety period.

[0034] It is also possible in the method to additionally check whether the object has been lost. In the method, for example, the motor vehicle then automatically maintains the object speed and prevents it from accelerating to the target speed, in particular only during the holding period, if the detected lateral acceleration of the motor vehicle corresponds to a non-zero lateral acceleration limit value or exceeds this lateral acceleration limit value and if the loss of the object has been detected particularly actively.

[0035] According to a further development of the method, the prevention of the motor vehicle's automatic acceleration to the target speed is canceled if a resume actuator, in particular a RESUME button of an adaptive cruise control system (ACC), is actuated during the holding period, the actuation of the RESUME button being intended to restore the motor vehicle to the last set target speed. This allows the driver to override the prevention of the motor vehicle's acceleration during the holding period by actuating the resume actuator, which results in the motor vehicle accelerating to the target speed again immediately after actuation.

[0036] Alternatively, the method preferably provides that, even if a resume actuator of the adaptive cruise control system, in particular a RESUME button, is actuated during the hold period, the motor vehicle is prevented from automatically accelerating to the target speed at least until the end time of the hold period, the actuation of the RESUME button being intended to restore the motor vehicle to the last target speed. Thus, during the hold period, the prevention of acceleration cannot be overwritten by the actuation of the resume actuator.

[0037] Additionally, the target speed can be specified in the program based on:

[0038] a) actuation of a set speed actuator of an adaptive cruise control system (ACC), and / or

[0039] b) The detected lateral acceleration of the motor vehicle.

[0040] For example, if the target speed is automatically set based on the detected lateral acceleration of the motor vehicle, corresponding to the above-mentioned target speed related to the lateral acceleration, for safety reasons, the higher the detected lateral acceleration, the lower the target speed is set, and conversely, the lower the detected lateral acceleration, the higher the target speed is set.

[0041] For a lateral acceleration substantially equal to zero, the target speed associated with the lateral acceleration may correspond in particular to a set speed determined by actuation of a set speed or target speed actuator. In addition, the target speed associated with the lateral acceleration may be greater or less than the set speed determined by actuation of a set speed or target speed actuator.

[0042] According to a second aspect, the invention relates to an adaptive cruise control (ACC) system for a motor vehicle, the system comprising:

[0043] a) means for setting a target speed for said motor vehicle,

[0044] b) at least one sensor designed and arranged to detect at least the distance and the relative speed to an object travelling in front of the motor vehicle and to generate a corresponding sensor signal,

[0045] c) a control device designed and arranged to adjust the speed of the motor vehicle to be controlled as a function of the speed of the object which is correlated with the sensor signal if the distance to the object is less than a target distance,

[0046] d) at least one lateral acceleration sensor provided, designed and arranged to detect a lateral acceleration of the motor vehicle, and

[0047] e) The control device is designed and arranged to prevent automatic acceleration of the motor vehicle to be controlled, in particular automatic acceleration to the target speed, if detection of the object is lost.

[0048] The device for setting a target speed (v_set) for the motor vehicle preferably comprises a SET key or button of the above-mentioned operating device and / or a logic implemented in the control device, by which the target speed related to the lateral acceleration depends on the lateral acceleration and is therefore arranged to be set according to the lateral acceleration measured by the lateral acceleration sensor.

[0049] Then, according to a second aspect, the present invention proposes:

[0050] f) The control device is designed and arranged to prevent automatic acceleration of the motor vehicle to be controlled, in particular automatic acceleration to the target speed, only when the detected lateral acceleration of the motor vehicle corresponds to a non-zero lateral acceleration limit value or exceeds the lateral acceleration limit value during travel or driving if detection of the object is lost.

[0051] The advantages and preferred further embodiments of the above-mentioned measures have been described in the first aspect of the present invention.

[0052] According to a preferred design of the adaptive cruise control system, the control device is designed and arranged to prevent automatic acceleration of the motor vehicle to be controlled, in particular automatic acceleration to the target speed, only during a holding period, the holding period starting from a loss time when detection of the object is lost and ending at an end time, the end time being:

[0053] a) corresponds to a first end time point at which the lateral acceleration of the motor vehicle falls below the lateral acceleration limit value, or

[0054] b) A second end time corresponding to the sum of the first end time and a predetermined or parameterizable time interval.

[0055] According to a further development of the adaptive cruise control system, the adaptive cruise control system may comprise a return actuator, the actuation of which is intended to return the motor vehicle to a last set target speed.

[0056] In this context, the control device is designed and configured to:

[0057] a) cancelling the prevention of automatic acceleration of the motor vehicle if the restoration actuator is actuated during the retention period, or

[0058] b) even if the restoration actuator is actuated during the holding period, automatic acceleration of the motor vehicle continues to be prevented at least until the end time of the holding period.

[0059] The adaptive cruise control system may also be designed with a set or target speed actuator, the control device being designed and configured to set the target speed based on actuation of the target speed actuator.

[0060] Particularly preferably, the adaptive cruise control system can also be designed and arranged to set a target speed related to the lateral acceleration as a function of the detected lateral acceleration (a_lat) of the motor vehicle, in particular when the motor vehicle is turning.

[0061] The invention also comprises a motor vehicle having an adaptive cruise control (ACC) system as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Embodiments of the present invention are shown in the following drawings and explained in more detail in the following description. In the drawings:

[0063] Figure 1 is a block diagram of a vehicle adaptive cruise control system according to a preferred embodiment;

[0064] Figure 2 is the first stage of a motor vehicle turning maneuver, in which the distance sensor of the adaptive cruise control system detects a motor vehicle ahead;

[0065] Figure 3 is the second stage of a motor vehicle turning, in which the motor vehicle travelling ahead is no longer detected or can no longer be detected by the distance sensor of the adaptive cruise control system;

[0066] Figure 4 is the third phase of a motor vehicle turning, in which it leaves the curve;

[0067] Figure 5 is used Figure 1 A flow chart of a method for adaptively controlling the speed of a motor vehicle by an adaptive cruise control system. DETAILED DESCRIPTION

[0068] An adaptive cruise control device 1 (whose block diagram is shown in FIG. 1 ) integrated in a motor vehicle 5 Figure 1 ) has a distance sensor 2, for example a radar sensor, whose output signal includes data relating to a distance d and a relative speed v_rel relative to an object 4 located in a detection area 3 of the distance sensor 2, in this example, for example relative to a target motor vehicle 5 traveling in front of the motor vehicle. The distance data and the relative speed data of the distance sensor 2 are supplied to a processing device 6 for processing. The processing device 6 transmits the distance data and the relative speed data of the object 4 to a control device 7, here for example in the form of control electronics. In addition to the distance data and the relative speed data, the control device 7 is also fed with a target speed v_set specified by the driver via a SET button on an operating device 8. A lateral acceleration sensor 9 is also provided, which is used to detect a lateral acceleration a_lat of the motor vehicle 5 and to feed corresponding lateral acceleration data to the control device 7.

[0069] At least on the basis of the distance data, the relative speed data and the lateral acceleration data, the control device 7 then controls the manipulated variables 10 and 11 in the brake device 12 and the drive machine 13 in order to control the speed v of the motor vehicle and the distance d to the object 4 in order to adjust the target distance d_target to the detected object 4 based on the calculation of these data. For example, if the target speed v_set specified here by the driver is greater than the object speed v_object of the object 4, the speed v_ego of the motor vehicle 5 will be adjusted accordingly.

[0070] If the described ACC control is overwritten by a driver intervention, the last set or preset target speed v_set8 ​​can be reset or reactivated by pressing a RESUME button or key on the operating device. The RESUME button can thus interact with the control device 7 .

[0071] Software is implemented in the control device 7 which implements a method for adaptively controlling the speed of a motor vehicle using an improved adaptive cruise control (ACC) system, a preferred embodiment of which is described below.

[0072] exist Figure 5In the method shown, a target speed v_set of the motor vehicle is set in step 100, for example, by pressing a SET button. It is now assumed that the motor vehicle 5 is initially travelling on a straight road and that the distance sensor 2 detects a vehicle travelling ahead as an object 4 in step 200, whose object speed v_object is less than the target speed v_set. Then, in step 300, the control device 7 controls the manipulated variables 10, 11 in the brake device 12 and / or the drive machine 13, so that the motor vehicle 5 is travelling at a calculated target distance d_target behind the vehicle ahead 4 with an object speed v_object, which is less than the target speed v_set, corresponding to the known HOLD MODE of the ACC control.

[0073] If the vehicle 4 and the motor vehicle 5 in front subsequently enter the curve 14 together, and the motor vehicle 5 in front continues to be within the detection range 3 of the distance sensor 2, as Figure 2 As shown, when passing the curve 14 , the above-described ACC control for the straight section is usually continued, and then both motor vehicles travel through the curve 14 , for example, at the object speed v_object of the vehicle 4 ahead.

[0074] In the case of the motor vehicle 5, the control device 7 can optionally additionally reduce the target speed v_set to a target speed v_set_curve associated with the lateral acceleration as a function of the lateral acceleration a_lat measured by the lateral acceleration sensor 9. In this case, the target speed v_set_curve associated with the lateral acceleration is preferably lower than the target speed v_set set for the motor vehicle 5 in straight driving as described above, for example by actuating the SET button. However, since the target speed v_set_curve associated with the lateral acceleration is greater than the object speed v_object of the vehicle 4 in front, the speed of the motor vehicle 5 in the curve 14 is reduced to the object speed v_object of the vehicle 4 in front, for example by an ACC control implemented in the control device 7.

[0075] If you turn further along curve 14, you can Figure 3 In a situation in which the vehicle 4 in front moves out of the detection range 3 of the distance sensor 2 of the motor vehicle 5 at the loss time t_lost, either because the radius of curvature of the curve 14 decreases or because the vehicle in front 4 has accelerated out of the curve 14, then in step 400 of the method, an automatic acceleration of the motor vehicle 5 from the object speed v_object of the motor vehicle in front 4 to a target speed v_set for straight-line driving or to a lower target speed v_set_curve related to the lateral acceleration is prevented, the automatic acceleration being actually generated by the control device 7.

[0076] This prevention operation in step 400 is only performed if the detected lateral acceleration a_lat of the motor vehicle 5 corresponds to a non-zero lateral acceleration limit value a_lat_limit or if the detected lateral acceleration a_lat exceeds the lateral acceleration limit value a_lat_limit. Figure 3 This should be the case. For example. Otherwise, this prevention is not performed. For example, the lateral acceleration limit a_lat_limit represents a fixed value or a parameterizable value. For example, the lateral acceleration limit a_lat_limit is greater than or equal to 0.5g (m / s 2 ), preferably greater than or equal to 1.0 g (m / s 2 ).

[0077] Preferably, in the method in step 400 , automatic acceleration of the motor vehicle 5 to be controlled that is actually to be established is prevented only during a holding period t_hold, which starts at a loss time t_lost, at which detection of the preceding vehicle 4 is lost, and ends at an end time t_end.

[0078] This end time t_end may correspond to a first end time t_end1 at which the lateral acceleration a_lat of the motor vehicle 5 falls below the lateral acceleration limit a_lat_limit. Figure 4 , in which the motor vehicle 5 is already at the exit from the curve 14 , at which the curve widens (radius of curvature increases), so that the lateral acceleration a_lat of the motor vehicle 5 falls again below the lateral acceleration limit a_lat_limit.

[0079] The first end time t_end1 at which the lateral acceleration a_lat of the motor vehicle 5 has fallen below the lateral acceleration limit a_lat_limit can mark the time at which, due to the lower lateral acceleration a_lat, it can be assumed that the curve 14 has widened again (increased radius of curvature) or has ended, so that the vehicle ahead 4 can also return to the detection range 3 of the distance sensor 2. Alternatively, it can also be assumed that the vehicle ahead 4 has accelerated so strongly in the curve 14 that it has therefore moved out of the detection range 3 of the distance sensor 2. In this case, due to the relatively low lateral acceleration a_lat, the motor vehicle 5 can accelerate to the original target speed v_set or v_set_curve without risk.

[0080] Alternatively, the end time t_end may also correspond to a second end time t_end2 which is the sum of the first end time t_end1 and a specified or parameterizable time interval Δt. Thus, the second end time t_end2 is later than the first end time t_end1 because the specified or parameterizable time interval Δt is added to the first end time t_end1 as a safety time interval.

[0081] According to a further development, it is provided in an optional step 500 of the method that the prevention of the motor vehicle 5 from automatically accelerating to the target speed v_set or v_set_curve is cancelled if, within the holding period t_hold, the RESUME button of the adaptive cruise control 1 is actuated, the actuation of which is intended to restore the motor vehicle 5 to the last target speed v_set or v_set_curve. This allows the driver to override the prevention of the acceleration of the motor vehicle 5 by actuating the RESUME button, so that after actuation of the RESUME button the motor vehicle 5 accelerates again almost immediately to the target speed v_set or to the target speed v_set_curve associated with the lateral acceleration.

[0082] Optionally, in the optional step 500 of the method, it can also be arranged that, even if the driver presses the RESUME button during the holding period t_hold, the motor vehicle 5 is prevented from automatically accelerating to the target speed v_set or the target speed v_set_curve associated with the lateral acceleration at least until the end time t_end of the holding period t_hold. This means that pressing the RESUME button during the holding period t_hold cannot override the prevention of acceleration.

[0083] Therefore, the software implemented in the control device 7 can be designed to implement the two alternatives mentioned above.

[0084] Reference numerals list

[0085] 1 Adaptive cruise control

[0086] 2 Distance Sensor

[0087] 3 Detection range

[0088] 4 Objects, Vehicles ahead

[0089] 5 Motor vehicles

[0090] 6 Processing device

[0091] 7 Control Devices

[0092] 8 Operating device (HMI)

[0093] 9 Lateral acceleration sensor

[0094] 10 Control variables

[0095] 11 Control variables

[0096] 12 Braking device

[0097] 13 Driving Machine

[0098] 14 Bend

[0099] d Distance

[0100] d_target target distance

[0101] v_object target speed

[0102] v_ego Speed ​​of motor vehicle

[0103] v_rel relative speed

[0104] v_set target speed or set speed

[0105] v_set_curve Target velocity related to lateral acceleration

[0106] a_lat lateral acceleration

[0107] a_lat_limit lateral acceleration limit

[0108] t_hold holding period

[0109] t_lost lost time

[0110] t_end End time

[0111] t_end1 First end time

[0112] t_end2 Second end time

[0113] Δt time interval

[0114] RESUME RESUME button

[0115] SET SET button

Claims

1. A method for adaptively controlling the speed of a motor vehicle (5) by means of an adaptive cruise control system (1), wherein: In the method: a) setting or defining a target speed (v_set; v_set_curve) for the motor vehicle (5), b) detecting at least a distance (d) and a relative speed (v_rel) relative to an object (4) travelling in front of the motor vehicle (5) by means of at least one sensor (2), c) if the object speed (v_object) of the object is less than the set speed (v_set; v_set_curve), setting the speed (v_ego) of the motor vehicle (5) to be controlled according to the object speed (v_object) of the object (4), d) detecting the lateral acceleration (a_lat) of the motor vehicle (5), and e) preventing automatic acceleration of the motor vehicle (5) to be controlled, in particular automatic acceleration to the target speed (v_set; v_set_curve), in the event of loss of detection of the object (4), characterized in that f) in the event of loss of detection of the object (4), automatic acceleration of the motor vehicle (5) to be controlled, in particular automatic acceleration to the target speed (v_set; v_set_curve), is prevented only during a journey or travel in which the detected lateral acceleration (a_lat) of the motor vehicle (5) corresponds to a non-zero lateral acceleration limit value (a_lat_limit) or exceeds the lateral acceleration limit value (a_lat_limit).

2. The method according to claim 1, characterized in that In particular, automatic acceleration of the motor vehicle (5) to be controlled, in particular automatic acceleration to the target speed (v_set; v_set_curve), is prevented only during a holding period (t_hold), which starts from a loss time (t_lost) when the detection of the object (4) is lost and ends at an end time (t_end), wherein: a) corresponds to a first end time point (t_end1) at which the lateral acceleration (a_lat) of the motor vehicle (5) falls below the lateral acceleration limit value (a_lat_limit), or b) A second end time point (t_end2) corresponding to the sum of the first end time point (t_end1) and a predetermined or parameterizable time interval (Δt).

3. The method according to claim 2, characterized in that If a resume actuator (RESUME) of the adaptive cruise control system (1) is actuated within the holding period (t_hold), the prevention of automatic acceleration of the motor vehicle (5), in particular automatic acceleration to the target speed (v_set; v_set_curve), is cancelled, the actuation of the resume actuator being intended to restore the motor vehicle (5) to the last set target speed (v_set; v_set_curve).

4. The method according to claim 2, characterized in that: Even if a resume actuator (RESUME) of the adaptive cruise control system (1) is actuated within the holding period (t_hold), automatic acceleration of the motor vehicle (5), in particular automatic acceleration to the target speed (v_set; v_set_curve), continues to be prevented at least until the end time (t_end) of the holding period (t_hold), the actuation of the resume actuator being intended to restore the set speed (v_set; v_set_curve) most recently determined by the motor vehicle (5).

5. The method according to any one of the preceding claims, characterized in that The target speed (v_set; v_set_curve) is determined according to: a) actuation of a set speed actuator (SET) of the adaptive cruise control system (1), and / or b) The detected lateral acceleration (a_lat) of the motor vehicle (5).

6. An adaptive cruise control system (1) for a motor vehicle (5), comprising: a) for setting a target speed (v_set) for the motor vehicle (5); v_set_curve), b) at least one sensor (2) which is designed and arranged to detect at least a distance (d) and a relative speed (v_rel) to an object (4) travelling in front of the motor vehicle (5) and to generate a corresponding sensor signal, c) a control device (6, 7) which is designed and arranged to regulate the speed (v_ego) of the motor vehicle (5) to be controlled as a function of the object speed (v_object) as a function of the sensor signal, if the object speed (v_object) of the object (4) is less than the target speed (v_set; v_set_curve), d) at least one lateral acceleration sensor (9) which is provided, designed and arranged to detect a lateral acceleration (a_lat) of the motor vehicle (5), and e) The control device (6, 7) is designed and arranged to prevent automatic acceleration of the motor vehicle (5) to be controlled, in particular automatic acceleration to the target speed (v_set; v_set_curve), if detection of the object (4) is lost, and is characterized in that f) The control device (6, 7) is designed and arranged to prevent automatic acceleration of the motor vehicle (5) to be controlled, in particular automatic acceleration to the target speed (v_set; v_set_curve), only during a journey or travel in which the detected lateral acceleration (a_lat) of the motor vehicle (5) corresponds to a non-zero lateral acceleration limit value (a_lat_limit) or exceeds the lateral acceleration limit value (a_lat_limit) if detection of the object (4) is lost.

7. The adaptive cruise control system according to claim 6, characterized in that: The control device (6, 7) is designed and arranged to prevent automatic acceleration of the motor vehicle (5) to be controlled, in particular automatic acceleration to the target speed (v_set; v_set_curve), only during a holding period (t_hold), which starts from a loss time (t_lost) when the detection of the object (4) is lost and ends at an end time (t_end), wherein: a) corresponds to a first end time point (t_end1) at which the lateral acceleration (a_lat) of the motor vehicle (5) falls below the lateral acceleration limit value (a_lat_limit), or b) A second end time point (t_end2) corresponding to the sum of the first end time point (t_end1) and a predetermined or parameterizable time interval (Δt).

8. The adaptive cruise control system according to claim 7, characterized in that: The adaptive cruise control system comprises a restoring actuator (RESUME), the actuation of which is intended to restore the motor vehicle (5) to a last set target speed (v_set; v_set_curve).

9. The adaptive cruise control system according to claim 8, characterized in that: The control device (6, 7) is designed and arranged to: a) cancelling the prevention of automatic acceleration of the motor vehicle (5) if the resuming actuator (RESUME) is actuated during the holding period (t_hold), or b) even if the resuming actuator (RESUME) is actuated during the holding period (t_hold), automatic acceleration of the motor vehicle (5) continues to be prevented at least until the end time (t_end) of the holding period (t_hold).

10. The adaptive cruise control system according to any one of claims 6 to 9, characterized in that: The adaptive cruise control system comprises a target speed actuator (SET), the control device (6, 7) being designed and arranged to set the target speed (v_set) in dependence on an actuation of the target speed actuator (SET).

11. The adaptive cruise control system according to any one of claims 6 to 10, characterized in that: The control device (6, 7) is designed and arranged to define the target speed (v_set_curve) as a function of a detected lateral acceleration (a_lat) of the motor vehicle (5).

12. A motor vehicle having an adaptive cruise control system (1) according to any one of claims 6 to 11.

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