Method and device for automatically setting a driving speed of a motor vehicle

Abstract

The invention relates to a method and a device for automatically setting a driving speed of a motor vehicle, wherein the device is designed to achieve that the motor vehicle has a driving speed which is always equal to or less than a maximum speed of the following driving when following. The device is further designed to detect a transition of the motor vehicle from the following driving to the free driving and, in response to the detection, to achieve that the driving speed of the motor vehicle is reduced to a driving speed which is equal to or less than a maximum speed of the free driving during the transition from the following driving to the free driving, wherein the maximum speed of the free driving is less than the maximum speed of the following driving.

Description

Technical Field

[0001] The present invention relates to a method and a corresponding apparatus designed to automatically set the driving speed of a motor vehicle. Background Technology

[0002] The vehicle can be configured for automatic longitudinal and / or lateral guidance. Here, automatic longitudinal and / or lateral guidance can be achieved with a high degree of automation, so that the vehicle's operation does not need to be monitored by the vehicle driver.

[0003] A driving system for automatically guiding a vehicle longitudinally and / or laterally can be configured to independently determine the vehicle's speed. The maximum speed used here may depend on an effective range that allows for reliable identification of objects ahead based on sensor data acquired by one or more of the vehicle's environmental sensors. The maximum speed determined by the sensors can vary depending on the design of the one or more environmental sensors. Summary of the Invention

[0004] This document relates to the technical task of achieving the highest possible maximum speed for automated longitudinal guidance of motor vehicles.

[0005] This task is solved according to the invention. Advantageous embodiments are further described in the specification. It is noted that additional features of dependent claims of an independent claim may form an invention without the features of the independent claim, or only in combination with a subset of the features of the independent claim, and independent of the combination of all the features of the independent claim, which may be the subject of an independent claim, a divisional application, or a subsequent application. This applies in the same manner to the technical teachings described in this specification, which may form an invention independent of the features of the independent claim.

[0006] According to one aspect, a device for automatically guiding motor vehicles longitudinally is described. This device can be configured to achieve longitudinal guidance using a level of automation according to SAE Level 3 or higher. The motor vehicle can be automatically guided longitudinally within a specific lane and, if necessary, laterally. Automatic longitudinal guidance can be achieved by means of speed and / or distance adjusters.

[0007] The device is designed to ensure that a motor vehicle, while following another vehicle, always maintains a speed equal to or less than the maximum speed allowed for following. Following is possible, for example, if there is a vehicle ahead (directly in the same lane) within the following distance range (directly in front of the motor vehicle). Conversely, if there is no vehicle ahead within the following distance range, following may not exist, and free movement may instead occur. The following distance range can be predetermined. Alternatively or additionally, the device can be designed to determine the following distance range based on the motor vehicle's speed and / or based on the maximum speed allowed for following and / or based on the maximum speed allowed for free movement (mentioned later).

[0008] A vehicle traveling ahead can be detected based on sensor data from one or more environmental sensors of the vehicle (e.g., one or more cameras, one or more radar sensors, and / or one or more laser rangefinders). Furthermore, the distance and / or speed of the vehicle ahead can be determined based on sensor data from one or more environmental sensors of the vehicle.

[0009] The device can be designed to, in following motion, especially with the aid of a distance regulator, automatically guide the vehicle longitudinally behind the vehicle in front using a target distance (possibly determined by the user of the vehicle), if, in particular, the speed of the vehicle ahead is equal to or less than the maximum following speed. Alternatively or additionally, the device can be designed to, in following motion, especially with the aid of a speed regulator, ensure that the vehicle's speed is always equal to or less than the maximum following speed if, in particular, and / or once the vehicle ahead has a speed greater than the maximum following speed (and as long as the vehicle ahead is still within the following distance range).

[0010] The device is also designed to detect, (based on sensor data from one or more environmental sensors) the transition of a motor vehicle from following to free-roaming. The transition can have specific transition types, such as a lane change by the vehicle in front, a turning maneuver by the vehicle in front, or an acceleration maneuver by the vehicle in front. An exemplary transition type for transitioning from following to free-roaming is:

[0011] • One or more transition types used to allow a vehicle ahead to change lanes to an adjacent lane, especially the corresponding transition types for lane changes.

[0012] ○ Passenger vehicle traveling ahead;

[0013] ○ A cargo truck traveling ahead;

[0014] ○ A motorcycle traveling ahead; and / or

[0015] ○ The bus traveling ahead; and / or

[0016] • One or more transition types for turning maneuvers of the vehicle ahead (e.g., the corresponding transition types for the vehicle types mentioned above); and / or

[0017] • The following transition type: The vehicle in front (e.g., due to acceleration) has a speed greater than the maximum speed of the following vehicle, causing the distance between the vehicle in front and the vehicle to increase until the vehicle in front eventually leaves the following distance range (and thus achieves the transition to free driving).

[0018] The transition from following to free driving can have a specific transition duration (e.g., between 0.5 and 2 seconds). The transition duration may depend on the type of transition.

[0019] The device can be designed to, in response to detection, reduce the speed of a motor vehicle to equal or less than the maximum speed of free driving during the transition from following to free driving (especially during the transition duration of the transition), wherein the maximum speed of free driving is less than the maximum speed of following.

[0020] The maximum speed for free-roaming may depend on an effective range, which can be used to detect objects ahead based on sensor data from one or more environmental sensors in the vehicle. This effective range, in turn, may depend on the technical design of one or more environmental sensors.

[0021] The maximum speed for following a vehicle can be (exactly) greater than the maximum speed for free-roaming by a (specific) speed difference. This speed difference may depend on...

[0022] • The duration of the transition from following to free movement of the motor vehicle; and / or

[0023] • Transitional deceleration is the process by which a motor vehicle slows down when transitioning from following to free driving.

[0024] The device can be specifically designed, particularly by means of a speed regulator, to reduce the vehicle's speed from an initial speed exceeding the maximum speed for free driving to the maximum speed for free driving during the transition period from following to free driving (so that the vehicle's speed after the transition period corresponds to the maximum speed for free driving). Furthermore, the device can be designed, particularly by means of a speed regulator, to ensure that the vehicle's speed is always equal to or less than the maximum speed for free driving during subsequent free driving. In particular, the maximum speed for free driving can be used as the target speed for the speed regulator.

[0025] Therefore, a device is described that enables the vehicle to be decelerated to a maximum free-driving speed determined by sensors by utilizing the transition time from following to direct free-driving, allowing the vehicle to be automatically longitudinally guided during the preceding following period at a speed exceeding the maximum free-driving speed. Thus, particularly comfortable (especially fast) and safe automatic longitudinal guidance of the vehicle can be achieved.

[0026] The device can be designed to detect objects ahead during free travel, particularly during immediate subsequent free travel. Furthermore, the device can be designed to, in response to object detection, decelerate the vehicle at least temporarily (or continuously until it comes to a stop) by a (relatively large) object deceleration. Object deceleration can be equal to or greater than 4 m / s² in absolute value. 2 .

[0027] Furthermore, the device can be designed to reduce the driving speed during the transition from following to free driving by using a deceleration that is always equal to or less than the transition deceleration. Here, the transition deceleration is preferably smaller than the object deceleration in absolute value, especially by a small factor of 2 or more. For example, the transition deceleration can be equal to or less than 2 m / s in absolute value. 2 .

[0028] By implementing relatively small transition deceleration for the transition from following to free driving and relatively large object deceleration for decelerating to the detected object, particularly comfortable and safe automatic longitudinal guidance of motor vehicles can be achieved.

[0029] The device can be designed to determine one or more currently existing environmental conditions in the (direct) environment of a motor vehicle, which (each) affect an effective range, using which objects ahead can be detected based on sensor data from one or more environmental sensors of the motor vehicle. Exemplary environmental conditions are...

[0030] • Weather conditions in the environment surrounding the motor vehicle; and / or

[0031] • Lighting conditions in the environment of a motor vehicle.

[0032] Furthermore, the device can be designed to determine the maximum free-roaming speed and / or the maximum following speed based on one or more environmental conditions. By taking into account the existing environmental conditions when determining the maximum free-roaming speed and / or the maximum following speed, the comfort and / or safety of automated longitudinal guidance can be further improved.

[0033] The device can be designed to select, from multiple (predefined) transition types, a transition from following to free-driving (based on sensor data from one or more environmental sensors). The maximum following speed, and in particular the speed difference between the maximum following speed and the maximum free-driving speed, can be determined based on the selected transition type. For this purpose, characteristic data, which describes the associated speed difference for each of the multiple different transition types, can be used if necessary. The characteristic data can be determined in advance. This can further improve the comfort and / or safety of automated longitudinal guidance.

[0034] The device can be designed to determine the vehicle type of a vehicle ahead from multiple (predefined) vehicle types (based on sensor data from one or more environmental sensors). Exemplary vehicle types are:

[0035] • Passenger vehicles;

[0036] • Cargo trucks;

[0037] • Motorcycles; and / or

[0038] • Bus.

[0039] The maximum following speed, especially the speed difference between the maximum following speed and the maximum free-roaming speed, can be calculated based on the vehicle type of the vehicle ahead. For this purpose, feature data, which describes the associated speed difference for multiple different vehicle types, can be used if necessary. The feature data can be determined in advance. Therefore, the comfort and / or safety of automatic longitudinal guidance can be further improved.

[0040] According to another aspect, a (road) motor vehicle (especially a passenger car, truck, bus, or motorcycle) is described, which includes the device described in this document.

[0041] According to another aspect, a method for automatic longitudinal guidance of a motor vehicle is described. The method includes ensuring that the motor vehicle, while following, always has a speed equal to or less than the maximum speed for following. Furthermore, the method includes detecting the transition of the motor vehicle from following to free-roaming. The method also includes, in response to the detection, reducing the motor vehicle's speed to a speed equal to or less than the maximum speed for free-roaming during the transition from following to free-roaming, wherein the maximum speed for free-roaming is less than the maximum speed for following. Additionally, the method may also include ensuring that the motor vehicle, while free-roaming, always has a speed equal to or less than the maximum speed for free-roaming.

[0042] It should be noted that aspects described in connection with the apparatus, and especially claims described in connection with the apparatus, can also be used as corresponding method features of the method.

[0043] According to another aspect, a software (SW) program is described. This software program can be designed to execute on a processor (e.g., on a vehicle controller) and perform the methods described in this document.

[0044] According to another aspect, a storage medium is described. The storage medium may include a software program designed to execute on a processor and thereby perform the methods described in this document.

[0045] The term "automatic driving" is understood within the scope of this document as driving with automatic longitudinal and / or lateral guidance. Automated driving can be, for example, extended driving on a highway or time-limited driving within a parking area. The term "automatic driving" includes automated driving with any degree of automation. Exemplary levels of automation are Driver Assistance, Partial Automated Driving, High Automated Driving, Full Automated Driving, and Autonomous Driving (with correspondingly increasing levels of automation). These five levels of automation correspond to SAE Levels 1 through 5 of the SAE J3016 (SAE - Society of Automotive Engineers) standard. In Driver Assistance (SAE Level 1), the system performs longitudinal or lateral guidance in specific driving situations. In Partial Automated Driving (SAE Level 2), the system undertakes longitudinal and lateral guidance in specific driving situations, where the driver must continuously monitor the system as in Driver Assistance. In High Automated Driving (SAE Level 3), the system undertakes longitudinal and lateral guidance in specific driving situations, and the driver does not need to continuously monitor the system; however, the driver must be able to guide the vehicle as required by the system for a certain period of time. In fully automated driving (SAE Level 4), the system takes over vehicle guidance in specific driving situations, even when the driver does not respond to intervention requests, thus eliminating the need for a driver-as-a-standby role. In autonomous driving (SAE Level 5), the system can perform all aspects of driving tasks under any road and environmental conditions, and is also controlled by a human driver.

[0046] The measures described in this document specifically relate to vehicles constructed according to SAE Level 3 or higher.

[0047] It should be noted that the methods, apparatuses, and systems described in this document can be used not only individually but also in combination with other methods, apparatuses, and systems described in this document. Furthermore, any aspect of the methods, apparatuses, and systems described in this document can be combined with each other in various ways. In particular, the features of the claims can be combined with each other in various ways. Additionally, features listed in parentheses are to be understood as optional features. Attached Figure Description

[0048] Furthermore, the present invention will be described in detail with the aid of embodiments. Here,

[0049] Figure 1a Exemplary components of the vehicle are shown;

[0050] Figure 1b An exemplary identification range of one or more environmental sensors of a vehicle is shown;

[0051] Figure 2 This illustrates an exemplary transition of a vehicle from following to free driving; and

[0052] Figure 3 A flowchart illustrating an exemplary method for setting the driving speed of a vehicle is shown. Detailed Implementation

[0053] As mentioned earlier, this document concerns the ability to achieve safe and reliable automatic longitudinal guidance of a vehicle at the highest possible travel speed. In this case, Figure 1a An exemplary vehicle 100 is shown, having one or more environmental sensors 102, each designed to collect sensor data (also referred to as environmental data) about the environment of the vehicle 100. Exemplary environmental sensors 102 include cameras, radar sensors, laser rangefinders, ultrasonic sensors, etc.

[0054] The (control) device 101 of vehicle 100 may be designed to evaluate environmental data, such as to identify one or more objects (e.g., other vehicles) in the environment of vehicle 100. The device 101 may also be designed to enable automatic longitudinal and / or lateral guidance of vehicle 100 based on environmental data, particularly based on one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 of the vehicle (e.g., drive motors, braking devices, and / or steering devices) may be manipulated.

[0055] For example, automatic longitudinal guidance of vehicle 100 can be achieved through a speed and / or distance regulator. Here, in following a vehicle directly in front of vehicle 100, the actual distance between vehicle 100 and the vehicle directly in front of vehicle 100 can be calculated based on environmental data. Furthermore, the actual distance can be set by the distance regulator, specifically adjusted to a predefined target distance. The speed of vehicle 100 can correspond to the speed of the vehicle in front during following (at least on a time average).

[0056] Speed ​​and / or distance regulators can be designed to set, and in particular adjust, the travel speed of vehicle 100 to a predefined target speed when there is no vehicle positioned ahead of it (within a specific distance range) during free travel. The predefined target speed may correspond to a specific maximum speed, which may depend on the quality of environmental data acquired by one or more environmental sensors 102. In particular, the maximum speed may depend on an effective range that allows reliable identification of objects positioned ahead of vehicle 100 along the travel direction based on environmental data. In this document, the free-traveling (sensor-determined) maximum speed is also referred to as the free-traveling maximum speed.

[0057] Figure 1b An exemplary driving scenario is illustrated, in which vehicle 100 travels toward a (stationary) object 110 positioned in front of vehicle 100 in the driving direction. One or more environmental sensors 102 may be designed to reliably identify object 110 at a specific maximum distance A 112. The maximum distance A 112 may depend on the design of one or more environmental sensors 102. Alternatively or additionally, the maximum distance A 112 may depend on the respective currently present environmental conditions in the environment of vehicle 100. Exemplary environmental conditions are:

[0058] • Weather conditions (such as sunshine, rain, fog, or snow); and / or

[0059] • Lighting conditions (e.g., daytime, nighttime, or dusk).

[0060] Taking into account the vehicle's (relatively high) deceleration (e.g., maximum permissible deceleration) a (e.g., a = -7 m / s) 2 In the case of the maximum distance A 112, the maximum speed 111 of the vehicle 100 (determined by the sensor) can be obtained, such that the vehicle 100 starts from the maximum speed 111 and, when the maximum distance A 112 exists, causes the vehicle to come to a stop before reaching the (stationary) object 110 when the object deceleration a is used.

[0061] Depending on the design of one or more environmental sensors 102 and their associated effective ranges, the maximum speed 111 (free-roaming) determined by the sensors can be relatively small. This document describes one or more measures that can increase the maximum speed of vehicle 100, at least depending on the circumstances. In particular, it is possible to increase the maximum speed to exceed the sensor-determined maximum speed 111 during follow-along driving of vehicle 100.

[0062] Figure 2The illustration depicts a driving scenario where vehicle 100 is traveling in the first lane 201 of a multi-lane road, behind vehicle 200. The speed of vehicle 200 may exceed the maximum free-roaming speed 111 determined by sensors. It can be assumed that the speed of vehicle 200 is only so high that it can also decelerate to a stop without collision from the moment it recognizes object 110 ahead, using object deceleration a.

[0063] exist Figure 2 In the example shown, the vehicle ahead 200 switches to the second lane 202 of a multi-lane road, causing vehicle 100 to transition from following to free-moving. The lane change by the vehicle ahead 200 can require a specific transition duration T. In other words, the transition from following to free-moving by vehicle 100 can occur within a specific transition duration T. The transition duration T can be determined in advance using measurement (for typical lane-changing maneuvers). For example, the transition duration T can be 1 second or longer. The transition duration T may differ for different types of transitions.

[0064] Vehicle 100 can use a transition duration T to reduce its travel speed from a specific initial speed to a maximum free-travel speed 111 determined by sensors. To reduce the travel speed, a specific transition deceleration b can be used, which is typically lower in absolute value than the object deceleration a. For example, the transition deceleration b could be -2 m / s². 2 (Or lower in absolute value). The speed difference can be calculated based on the transition duration T and the transition deceleration b, which can decrease during the transition from following to free driving. This speed difference can be added to the maximum free driving speed 111 determined by the sensor, and thus a higher maximum following speed is achieved for following. Therefore, it is possible to automatically guide the vehicle 100 longitudinally at a speed exceeding the maximum free driving speed 111 determined by the sensor during following.

[0065] Therefore, by adapting to the situation and actively adjusting the driving strategy, the presence of the vehicle ahead 200 can be utilized to allow the vehicle to travel at a higher maximum following speed than the maximum free-roaming speed 111 determined by the sensors. To this end, the device 101 of the vehicle 100 detects changes in following speed behind the vehicle ahead 200 in advance and then initiates deceleration of the vehicle 100 from the corresponding initial speed. The driving speed can be reduced such that the reduced speed allows the vehicle 100 to detect the object 110 ahead in its lane 201 in advance (in order to avoid a collision with the object 110) even when the maximum free-roaming speed 111 is still sufficient for the sensor system 102.

[0066] Therefore, it can travel at higher speeds while following, which enables continuous and relatively long periods of highly automated driving without the vehicle 100 leaving its own safe zone.

[0067] In potentially critical situations (e.g., when a vehicle 200 ahead moves out relatively quickly to avoid an object 110 on lane 201 ahead), the speed of vehicle 100 is first reduced by a (relatively comfortable) transitional deceleration (during the transition duration T). If, after the transition from following to free driving, the object 110 is identified based on sensor data from one or more environmental sensors 102 of vehicle 100, then reliably achievable by implementing object deceleration is that vehicle 100 decelerates to a standstill without collision before reaching the object 110.

[0068] Alternatively, device 101 can be designed to replicate the behavior of vehicle 100 ahead. Automatic lane changing to a second lane 202 can then be implemented to avoid (potentially present and / or unidentified) object 110. Thus, when vehicle 200 ahead changes lanes, vehicle 100 can automatically change lanes accordingly (if adjacent lane 202 provides sufficient space). During the avoidance of vehicle 200 ahead, device 101 of vehicle 100 can automatically replicate this maneuver. Therefore, vehicle 100 can remain in a safe following position of vehicle 200 ahead and can avoid driving situations (especially free movement with respect to object 110 ahead) that are related to the design of one or more environmental sensors 102.

[0069] In the example, the environmental sensor (e.g., a laser rangefinder) 102 of vehicle 100 is configured to identify object 110 (e.g., a shelf) at a maximum distance A 112 of 70 meters. This is achieved with a plausibility verification and / or reaction time of 1 second and a speed of -7 m / s. 2 During maximum (object) deceleration, a maximum free-driving speed of 90 km / h can be achieved 111. Through the measures described in this document, an even higher maximum following speed of 95 km / h can be achieved when following a vehicle 200 (e.g., a truck). Upon detecting the departure of the vehicle 200, vehicle 100 automatically reduces its speed to the maximum free-driving speed 111 for free-driving, ensuring that vehicle 100 can safely decelerate without collision when object 110 is detected.

[0070] In the hypothetical 1-second lane-changing / avoidance duration (i.e., transition duration) of the vehicle 200 ahead, the transition duration can be used to reduce the travel speed of vehicle 100. If the effective maximum free-roaming speed 111 for sensor system 102 is 90 km / h, then a (comfortable) -1.4 m / s² speed can be achieved in 1 second. 2 The transitional deceleration is used to reduce the speed difference of 1.4 m / s or 5.0 km / h.

[0071] Figure 3 A flowchart of an exemplary (possibly computer-implemented) method 300 for automatically longitudinally guiding a motor vehicle 100 is shown. Method 300 can be specifically designed to automatically longitudinally guide the motor vehicle 100 using a level of automation according to SAE Level 3 or higher. Method 300 can be executed via a (control) device 101 of the motor vehicle 100.

[0072] Method 300 includes implementing 301 by having the motor vehicle 100 have a speed that is always equal to or less than the maximum speed for following while following. Following can exist if the motor vehicle 100 has a preceding vehicle 200 (which is traveling directly in front of the motor vehicle 100 in the same lane 201) within a (predefined) following distance range ahead.

[0073] During following (using the distance adjuster), vehicle 100 can maintain the speed of vehicle 200 ahead, provided that the speed of vehicle 200 ahead is equal to or less than the maximum following speed. Furthermore, during following (using the speed adjuster), if the speed of vehicle 200 ahead is greater than the maximum following speed and if vehicle 200 ahead is still within the (predefined) following distance range, then vehicle 100 maintains the maximum following speed.

[0074] Method 300 also includes detecting 302 the transition of motor vehicle 100 from following to free driving, wherein when motor vehicle 100 is free driving, there is no preceding vehicle 200 traveling ahead within the following distance range. The transition from following to free driving can be achieved, in particular, by having the preceding vehicle 100 switch to the adjacent lane 202. The transition from following to free driving can be detected based on sensor data from one or more environmental sensors 102.

[0075] Furthermore, method 300 includes, in response to detection 302, implementing 303, reducing the travel speed of vehicle 100 during the transition from following to free driving to a travel speed equal to or less than the maximum free driving speed 111, wherein the maximum free driving speed 111 is less than the maximum following speed. As mentioned above, the maximum free driving speed 111 may depend on the design and / or effective acquisition range of one or more environmental sensors 102 of vehicle 100. The maximum following speed may be (just) larger than the maximum free driving speed 111, wherein the speed difference may particularly depend on the transition duration of the transition and / or the transition deceleration achieved during the transition.

[0076] The measures described in this document allow for the efficient and safe achievement of higher maximum driving speeds for the automatically longitudinally guided vehicle 100, depending on the circumstances.

[0077] This invention is not limited to the embodiments shown. In particular, it should be noted that the specification and drawings are intended to illustrate the principles of the proposed methods, apparatus, and systems only by way of example.

Claims

1. A device (101) for automatically longitudinally guiding a motor vehicle (100), wherein, The device (101) is designed for use in The motor vehicle (100) has a driving speed that is always equal to or less than the maximum driving speed when following, wherein the motor vehicle (100) has a vehicle (200) traveling in front within the following distance range when following. The transition of the motor vehicle (100) from following to free driving is detected, wherein, during the free driving, the motor vehicle (100) does not have a preceding vehicle (200) within the following distance ahead; and In response to the detection, the speed of the motor vehicle (100) is reduced to a speed equal to or less than the maximum speed of free driving (111) during the transition from following to free driving, wherein the maximum speed of free driving (111) is less than the maximum speed of following.

2. The apparatus (101) according to claim 1, wherein, The maximum speed of following is greater than the maximum speed of free travel (111) by a certain speed difference, and The speed difference depends on The duration of the transition from following to free driving for the motor vehicle (100); and / or The motor vehicle (100) performs a transitional deceleration when transitioning from following to free driving.

3. The apparatus (101) according to any one of the preceding claims, wherein, The maximum free-driving speed (111) depends on an effective range that allows for the detection of objects (110) ahead based on sensor data from one or more environmental sensors (102) of the vehicle (100).

4. The apparatus (101) according to any one of the preceding claims, wherein, The device (101) is designed for, One or more currently existing environmental conditions in the environment of the motor vehicle (100) are determined, the environmental conditions affecting an effective range, and using the effective range, an object (110) in front can be detected based on sensor data from one or more environmental sensors (102) of the motor vehicle (100); and The maximum speed for free driving (111) and / or the maximum speed for following driving are determined based on one or more of the environmental conditions.

5. The apparatus (101) according to claim 4, wherein, The one or more environmental conditions include: The weather conditions in the environment of the motor vehicle (100), and / or The lighting conditions in the environment of the motor vehicle (100).

6. The apparatus (101) according to any one of the preceding claims, wherein, The device (101) is designed for, Detect objects ahead while driving freely (110); In response to the detection of the object (110), the motor vehicle (100) decelerates at least temporarily by decelerating the object; and The driving speed is reduced by a deceleration that is always equal to or less than the transition deceleration during the transition from the following driving to the free driving, wherein the transition deceleration is less than the object deceleration in absolute value.

7. The apparatus (101) according to claim 6, wherein, The transition deceleration is a factor of 2 or more smaller than the object deceleration in absolute terms.

8. The apparatus (101) according to any one of the preceding claims, wherein, The device (101) is designed for, Select from a number of different transition types the transition type from following to free driving; and The speed difference between the maximum speed of the following drive and the maximum speed of the free drive (111) is calculated based on the selected transition type.

9. The apparatus (101) according to claim 8, wherein, Several different transition types include: One or more transition types for enabling the vehicle ahead (200) to change lanes to the adjacent lane (202), and / or One or more transition types for the turning maneuver of the vehicle in front (200), and / or The following transition type: The vehicle in front (200) has a driving speed greater than the maximum speed of the following vehicle, so that the distance between the vehicle in front (200) and the motor vehicle (100) increases until the vehicle in front (200) finally leaves the following vehicle distance range.

10. The apparatus (101) according to claim 9, wherein, The one or more transition types used to allow the preceding vehicle (200) to change lanes into the adjacent lane (202) include transition types for changing lanes for a passenger car, a truck, a motorcycle and / or a bus traveling ahead.

11. The apparatus (101) according to any one of the preceding claims, wherein, The device (101) is designed for, The vehicle type of the preceding vehicle (200) is determined from multiple different vehicle types; and The speed difference between the maximum speed of following and the maximum speed of free driving (111) is calculated based on the vehicle type obtained from the vehicle ahead (200).

12. The apparatus (101) according to any one of the preceding claims, wherein, The device (101) is designed to, when following a vehicle, The following is achieved using a distance adjuster: whenever the speed of the vehicle ahead (200) is equal to or less than the maximum speed of the following vehicle, the vehicle (100) is automatically guided longitudinally behind the vehicle ahead (200) using a target distance; and The speed regulator enables the following: if the vehicle ahead (200) has a speed greater than the maximum speed for following, then the speed of the motor vehicle (100) will always be equal to or less than the maximum speed for following.

13. The apparatus (101) according to any one of the preceding claims, wherein, The device (101) is designed for, During the transition period from following to free driving, the speed of the vehicle (100) is reduced from an initial speed exceeding the maximum free driving speed (111) to the maximum free driving speed (111) by means of a speed regulator; and During the subsequent free driving, the speed regulator ensures that the driving speed of the motor vehicle (100) is always equal to or less than the maximum free driving speed (111).

14. A method (300) for automatically longitudinally guiding a motor vehicle (100), wherein, The method (300) includes: The motor vehicle (100) described in (301) has a driving speed that is always equal to or less than the maximum driving speed when following, wherein the motor vehicle (100) has a vehicle (200) traveling ahead within the following distance range when following. The detection (302) measures the transition of the motor vehicle (100) from following to free driving, wherein, during the free driving, the motor vehicle (100) does not have a preceding vehicle (200) within the following distance ahead; and In response to the detection (302), implementation (303) reduces the speed of the motor vehicle (100) to a speed equal to or less than the maximum speed of free driving (111) during the transition from following to free driving, wherein the maximum speed of free driving (111) is less than the maximum speed of following.

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