Method and device for operating a vehicle

Abstract

Procedures for operating a vehicle, comprising the following steps: - Determining (101) the distance between the vehicle and another vehicle following behind it, - Determining (103) a relative speed between the vehicle and the other vehicle, - Determining (105) the speed of the vehicle, - Determining (107) a minimum required braking distance for the other vehicle based on a given coefficient of friction of a road on which the two vehicles are traveling, the distance, the relative speed and the speed to avoid a collision between the vehicle and the other vehicle, - Comparing (109) the determined braking distance with the determined distance between the vehicle and the other vehicle and - Steering (111) the vehicle based on the comparison in such a way as to increase the available braking distance for the following vehicle, - wherein the specified coefficient of friction corresponds to a coefficient of friction utilized by the further vehicle, which is determined on the basis of a time derivative of a speed of the further vehicle, which is determined on the basis of the relative speed between the vehicle and the further vehicle and the speed of the vehicle.

Description

[0001] The invention relates to a method and a device for operating a vehicle. The invention further relates to a computer program. State of the art

[0002] The patent application DE 10 328 755 A1 shows a system for avoiding rear-end collisions.

[0003] The patent application DE 199 33 782 A1 discloses a method for avoiding rear-end collisions and a device for carrying out the method.

[0004] The patent application DE 10 2010 019 291 A1 discloses a method for detecting an impending rear-end collision.

[0005] The patent application DE 10 2010 001 304 A1 discloses a method for controlling a traffic situation.

[0006] The patent application DE 10 2012 211 509 A1 discloses a method for avoiding collisions.

[0007] The patent application DE 10 2009 025 607 A1 discloses a method for avoiding rear-end collisions.

[0008] The patent application DE 10 2005 050 720 A1 discloses a method for warning following vehicles in the event of frontally escalating longitudinal traffic.

[0009] The patent application WO 2004 / 083012 A1 discloses a method for determining a coefficient of friction representing the coefficient of friction present between the road surface and the vehicle tire. Disclosure of the invention

[0010] The object underlying the invention can be seen as providing a method for operating a vehicle that avoids a rear-end collision or at least reduces the severity of the accident.

[0011] The object underlying the invention can further be seen as being to specify a suitable device for operating a vehicle.

[0012] The object underlying the invention can also be seen as providing a corresponding computer program.

[0013] These problems are solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject of dependent claims.

[0014] According to one aspect, a procedure for operating a vehicle is provided, comprising the following steps: - Determining the distance between the vehicle (which can also be referred to as the own vehicle below) and another vehicle following the vehicle (which can also be referred to as the following vehicle below). - Determining a relative speed between the vehicle and the other vehicle, - Determining the speed of the vehicle, - Determining a minimum required braking distance for the other vehicle based on a given coefficient of friction of a road on which the two vehicles are traveling, the distance, the relative speed and the speed, in order to avoid a collision between the vehicle and the other vehicle, - Comparing the determined braking distance with the determined distance between the vehicle and the other vehicle and - Steering the vehicle based on the comparison in such a way as to increase the available braking distance for the following vehicle.

[0015] According to another aspect, a device for operating a vehicle is provided, which is set up to carry out the procedure for operating a vehicle.

[0016] According to another aspect, a computer program is provided which includes program code for carrying out the procedure for operating a vehicle when the computer program is executed on a computer.

[0017] The invention therefore encompasses, in particular, the concept of determining the missing braking distance of the other vehicle from the relative motion of the two vehicles. For this purpose, the available braking distance, i.e., the distance between the vehicle and the other vehicle, is compared to the predicted braking distance, i.e., the minimum braking distance required. This advantageously allows the system to determine how much additional braking distance the other vehicle needs to avoid a collision. Accordingly, the vehicle can then be optimally steered to increase the available braking distance for the other vehicle. Thus, a rear-end collision can be advantageously avoided. At the very least, the severity of an accident can be reduced.Even in the event of a collision, the other vehicle will have a lower impact speed due to the extended braking distance compared to the case where the available braking distance is not increased.

[0018] In one embodiment, the available braking distance is only increased until it corresponds to the minimum required braking distance. This offers the particular technical advantage of preventing the available braking distance from being unnecessarily increased beyond what is needed. This is because, as a rule, other vehicles are present in the vicinity of these two vehicles, and an excessive increase in the available braking distance could lead to a collision with these other vehicles or at least to a dangerous approach to them. This can be advantageously avoided with this embodiment. In other words, the vehicle being driven decelerates or brakes again when the available braking distance corresponds to the minimum required braking distance.Preferably, after accelerating to increase the available braking distance, the vehicle is then decelerated again. This is particularly advisable even if the increased braking distance for the following vehicle does not yet meet the minimum required braking distance. This is especially true if further acceleration would lead to a collision with an object, such as a vehicle ahead, or to another dangerous situation. Even in this case, the increased braking distance will further reduce the speed of the following vehicle, thus mitigating the severity of an accident or collision.

[0019] According to the invention, the predetermined coefficient of friction corresponds to a coefficient of friction actually utilized by the other vehicle, which is determined based on a time derivative of the speed of the other vehicle. This speed is calculated based on the relative speed between the vehicle and the other vehicle and the vehicle's own speed. This provides the particular technical advantage of enabling a more precise determination or prediction of the minimum required braking distance. This is because a theoretical or assumed coefficient of friction is not used for prediction or determination. Rather, the coefficient of friction actually utilized by the other vehicle is used. Different vehicles typically decelerate with varying degrees of strength or effectiveness. Furthermore, different drivers brake with varying degrees of force.Thus, it can happen that the following vehicle does not utilize the maximum possible coefficient of friction for the road, but rather a lower coefficient of friction. This is taken into account by this embodiment, so that a more accurate prediction of the minimum required braking distance is possible.

[0020] According to another embodiment, if another vehicle is present in front of the vehicle (hereinafter also referred to as the vehicle in front), a distance between the vehicle and the other vehicle is determined. The vehicle is then steered based on this determined distance to ensure that a predetermined minimum distance between the vehicle and the other vehicle is not breached. This advantageously prevents a collision with a vehicle in front of the vehicle, which would otherwise occur due to the vehicle's maneuvering to increase the available braking distance. In other words, a subsequent collision with a vehicle in front cannot occur as a result of an evasive maneuver by the vehicle.This means that the clearance the vehicle has due to the vehicle in front is taken into account, insofar as the available braking distance is increased within this clearance. For example, after accelerating to increase the available braking distance, the vehicle will decelerate or brake again to maintain the minimum distance to the vehicle in front.

[0021] In another embodiment, a distance increase request is sent from one vehicle to the other, instructing the other vehicle to increase the distance between itself and the other vehicle. This provides the particular technical advantage of informing the other vehicle that it should increase the distance between itself and the other vehicle. Once this distance is increased, the other vehicle can, for example, further increase the available braking distance for the other vehicle without changing lanes and thus avoid a collision. The distance increase request could, for instance, include a value indicating by how much the other vehicle should increase the distance between itself and the other vehicle.

[0022] In another embodiment, driving involves decelerating the vehicle and / or changing lanes to prevent the specified minimum distance from being breached. The lane change is only performed if it can be carried out safely. This offers the particular technical advantage of ensuring the specified minimum distance is maintained. A rear-end collision is thus advantageously avoided. To determine whether the lane change can be performed safely, an environmental sensing device is provided, for example, which can detect the vehicle's surroundings. Based on this detection, the system determines whether, for example, other vehicles are in adjacent lanes, in which case a lane change cannot be performed safely without further consideration.

[0023] According to one embodiment, an environment sensing device is provided for detecting the vehicle's surroundings. The environment sensing device comprises, for example, one or more environment sensors, which are preferably identical or, preferably, different in design. An environment sensor is, for example, a radar sensor, an ultrasonic sensor, a lidar sensor, or a video sensor, such as a video sensor from a video camera.

[0024] According to a further embodiment, the impact speed at which the other vehicle collides with the first vehicle is determined. Based on this determined impact speed, a restraint system in the vehicle is controlled to reduce the severity of the accident for the vehicle occupants. This offers the particular technical advantage of reducing the severity of the accident for vehicle occupants even in the event of a collision. For example, a seatbelt pretensioner of the restraint system is activated, i.e., tightened. Furthermore, in other embodiments, the following actions are provided, individually or in combination, in the event of a collision: the seatbacks are raised vertically, the headrests are adjusted, the windows are closed, and the brakes are applied while the vehicle is stationary.

[0025] According to another embodiment, increasing the distance between the vehicle and the other vehicle involves accelerating the vehicle and / or performing a lane change, whereby the lane change is only performed if it can be carried out safely. This provides the particular technical advantage of increasing the available braking distance. Analogous to the above embodiments, it is also preferably provided here that an environmental sensing device detects the vehicle's surroundings in order to determine, based on the detected environment, whether the lane change can be performed safely or not.

[0026] According to one embodiment, the device comprises an environment sensing device, which is designed, for example, like the environment sensing device mentioned above. In particular, the device comprises a control unit for controlling one or more actuators and / or controllers of the vehicle. Specifically, the device comprises a processing unit that, based on the environmental data provided by the environment sensing device, can determine the respective distances between the vehicle and the other vehicle and / or between the vehicle and the other vehicle and / or the corresponding relative speeds between the individual vehicles and / or the corresponding minimum required braking distances and / or friction coefficients. In particular, the processing unit performs the comparison steps. The control unit is preferably configured to guide the vehicle according to the aforementioned steps.

[0027] The invention will be explained in more detail below with reference to preferred embodiments. Here, we will show... Fig. 1. A flowchart of the described procedure for operating a vehicle, Fig. 2. A detailed block diagram of the procedure for operating a vehicle. Fig. 3 a simulation model for simulating the procedure for operating a vehicle, Fig. 4 the functional block of the procedure according to Fig. 3, Fig. 5. Time histories of different quantities or values ​​of the simulation model when a collision is not prevented, and Fig. 6. Time profiles of different quantities or values ​​of the simulation model when the collision is prevented.

[0028] Fig. Figure 1 shows a flowchart of the described procedure for operating a vehicle.

[0029] In step 101, the distance between the vehicle and another vehicle following behind is determined. In step 103, the relative speed between the vehicle and the other vehicle is determined. Determining the relative speed and the distance can be done, for example, using radar measurements. In step 105, the vehicle's speed is determined.

[0030] Based on the determined speed, the determined distance, the determined relative speed, and an initially specified minimum coefficient of friction of the road on which the two vehicles are traveling, a minimum required braking distance for the other vehicle is determined in step 107 to avoid a collision between the vehicle and the other vehicle. Preferably, the specified coefficient of friction corresponds to a coefficient of friction utilized by the other vehicle, which is determined based on a time derivative of the speed of the other vehicle, which is determined based on the relative speed between the vehicle and the other vehicle and the speed of the vehicle.

[0031] In step 109, the determined braking distance is compared with the determined distance between the vehicle and the other vehicle. Depending on or based on the comparison, in step 111 the vehicle is steered in such a way as to increase the available braking distance for the other vehicle. Preferably, the vehicle is accelerated.

[0032] The comparison determines, in particular, whether the measured distance is less than or greater than the minimum required braking distance. If the measured distance is less than the minimum required braking distance, the vehicle is preferably accelerated and / or a lane change is preferably performed. If the minimum required braking distance is less than the measured distance, it is preferably provided that the vehicle is neither accelerated nor does it perform a lane change.

[0033] Fig. Figure 2 shows a block diagram of a method for operating a vehicle, wherein the method is carried out on a device according to the invention.

[0034] The block diagram shows arithmetic and logical operands, familiar to those skilled in the art, to which corresponding input variables are fed, so that these operands then output corresponding output variables. Reference numeral 201 points to the input variable "measured relative speed between the vehicle and the other vehicle." Reference numeral 203 points to the input variable "vehicle speed." Reference numeral 205 points to the input variable "measured distance between the vehicle and the other vehicle." Reference numeral 207 points to the input variable "measured relative speed between the vehicle and the other vehicle." Reference numeral 209 points to an initially specified minimum coefficient of friction. Reference numeral 211 indicates the state of the device for operating the vehicle, i.e., whether it is active or not, and thus whether it can avoid a collision or not.Reference numeral 213 indicates the vehicle's speed. Reference numeral 215 indicates the driver-specified acceleration of the vehicle, reference numeral 217 indicates the target value of the vehicle's deceleration, and reference numeral 219 indicates a measured distance to the vehicle ahead. Reference numeral 221 indicates the target value of the vehicle's deceleration, and reference numeral 223 indicates the target value of the vehicle's acceleration in an evasive maneuver. Reference numeral 225 indicates the output variable "minimum required braking distance." Reference numeral 227 indicates the estimated coefficient of friction utilized by the other vehicle. Reference numeral 229 indicates the remaining braking distance required to avoid a collision. Reference numeral 231 indicates the flag for enabling the evasive maneuver control. Reference numeral 233 indicates the available braking distance, i.e., the distance between the vehicle and the other vehicle.Reference sign 235 indicates the flag for detecting a rear-end collision. Reference sign 237 indicates the impact speed of the other vehicle in the event of a collision. Reference sign 239 indicates the target value of the vehicle's acceleration to provide additional braking distance for the other vehicle. Reference sign 241 indicates the distance to the following vehicle. Reference sign 243 indicates the input variable, the measured relative speed between the vehicle and the other vehicle. Reference sign 245 indicates the vehicle's own speed. Reference sign 247 indicates the speed of the following vehicle at time (k-1). Reference sign 249 indicates the current speed of the following vehicle at time (k).

[0035] The aforementioned input variables are processed according to the logical or arithmetic operands, so that the output variables, as mentioned above, are determined or formed according to the block diagram.

[0036] Fig. Figure 3 shows a simulation model of the procedure for operating a vehicle.

[0037] Reference 301 points to a simulation block for the vehicle. Reference 303 points to a simulation block for the other vehicle following vehicle 301. Reference 305 points to a simulation block for a vehicle ahead of vehicle 301. Reference 307 points to a simulation block for the rear radar of vehicle 301. Reference 309 points to a simulation block for the front radar of vehicle 301.

[0038] Reference numerals 313 to 317 are used to control the simulation for specifying the deceleration of the following vehicle. Reference numeral 319 therefore indicates the specified deceleration of the following vehicle for the purpose of the simulation.

[0039] Reference symbol 311 points to a block that corresponds to the block diagram according to Fig. 2 includes, although for the sake of clarity this is not in Fig. Figure 3 is shown in detail. Only the individual input variables and some output variables are shown. Reference numeral 403 indicates the speed v1 of vehicle 301. Reference numeral 405 indicates a distance between vehicle 301 and vehicle 305.

[0040] Some values ​​are provided for simulation purposes only; they are not necessary for the actual procedure. These include reference numeral 401, which indicates the position x1 of the vehicle 301. Reference numeral 304 indicates the x-position of the following vehicle. Reference numeral 407 indicates the relative speed between vehicle 301 and the other vehicle 305.

[0041] In Fig. 3 indicates reference number 215 to an entrance of block 311. In Fig. 3 indicates reference 304 to an output of block 303.

[0042] In light of this description, the following abbreviations are used: "x" stands for a position. "v" stands for a speed. The suffix "ext" stands for an external vehicle relative to vehicle 301. The suffix "own" stands for the vehicle 301 itself. The suffix "Diff" stands for a difference between the respective positions or speeds, i.e., a relative distance or relative speed. "a" stands for acceleration. The suffix "veh" stands for "vehicle." The term "crash" stands for collision. "BrakeDist" stands for "braking distance." "Available" means "available." "Required" means "needed." "Missing" means "still missing." "Diff_Rear" stands for a difference between a given value (position or speed) of the vehicle behind and the vehicle following behind."xDiff_Rear" therefore represents the distance or gap between your own vehicle and the vehicle behind you. In the... Fig. 5 and Fig. 6 The relevant terms are listed in conjunction with the corresponding reference symbol for the purpose of better and more understandable presentation of the drawings.

[0043] The individual simulation blocks simulate the vehicles, with the individual simulation blocks outputting corresponding output variables and / or supplying corresponding input variables to the simulation blocks.

[0044] In Fig. 4 is the part of the simulation model of the Fig. Figure 3, which is designated with the reference symbol 311, is shown in more detail. The input and output variables of block diagram 311, which in turn is shown in Figure 311, are clearly depicted. Fig. 2. has already been described in detail.

[0045] Fig. Figure 5 shows time courses of various input and output variables, as listed above or explained below. Reference numeral 249 indicates a time course of the speed of the following vehicle. A speed of 100 km / h is assumed for the following vehicle. Reference numeral 205 indicates a time course of the distance between the vehicle and the following vehicle. Here, it is assumed that at time t = 0, the distance between the two vehicles is 92 m. Reference numeral 304 indicates the X-position of the following vehicle. Reference numeral 245 indicates the speed of the vehicle, assumed here to be 0 km / h. This means that the vehicle is stationary. The arrow with reference numeral 535 indicates the moment when a rear-end collision occurs between the two vehicles. Reference numeral 401 indicates the X-position of the vehicle.Reference symbol 229 indicates a curve showing that there is still 3.8 m of braking distance needed to avoid a collision between the vehicles. The vehicle is not moving, even though the other vehicle is approaching from behind. Therefore, a crash, collision, or rear-end collision will occur.

[0046] This shows Fig. In summary, vehicle 303 is approaching vehicle 301 from behind and is traveling at approximately 100 km / h when emergency braking begins. It is approximately 3.8 m short of the braking distance. A rear-end collision occurs at approximately 30 km / h. The estimated coefficient of friction is adjusted from 0.8 to 1.0.

[0047] Fig. Figure 6 shows the corresponding curves of the input and output variables according to Fig. 5, where the procedure for operating a vehicle is now carried out by accelerating the vehicle. This is because it was recognized that the available braking distance was insufficient. That is, the minimum required braking distance is greater than the determined distance between the vehicle and the other vehicle. Thus, the arrow with reference number 601 points to a point where both vehicles are positioned with a relative distance of approximately 1.50 m; a collision did not occur. The vehicle was accelerated to an average speed of approximately 6 km / h and then decelerated back to 0 km / h. The vehicle moved forward approximately 5 m until the available braking distance was increased sufficiently to allow the other vehicle enough space to brake, thus enabling an additional braking distance of approximately 3.8 m.

[0048] Fig. Figure 6 summarizes the simulation without a crash. Here, vehicle 303 approaches vehicle 301 from behind and has a speed of approximately 100 km / h when emergency braking begins. It lacks approximately 3.8 m of braking distance. Vehicle 301 recognizes this and automatically moves forward approximately 5.0 m and brakes again. The distance to the vehicle 305 ahead is 0.5 m. An accident is thus avoided. The estimated coefficient of friction is adjusted from 0.8 to 1.0.

[0049] The in Fig. 5 and Fig. The reference symbols used in 6 are also partly used in other figures and are explained in more detail in connection with the corresponding figure description.

[0050] The individual steps that can be carried out in a procedure for operating a vehicle are described again below as follows:

[0051] Using the measuring device installed in vehicle 301 (for example, an environmental sensing device), the distance and relative speed to the vehicle 305 ahead are determined. Similarly, the distance and relative speed to the following vehicle 303 are determined.

[0052] This allows you to determine the current speeds of the vehicle in front (v2) and the vehicle behind (v0) based on your own measured vehicle speed (v1): V0=V1+VDiffRear V2=V1+VDiffFront with the measured sizes: v1: Speed ​​of your own vehicle v DiffRear : relative speed to the following vehicle v DiffFront : relative speed to the vehicle in front

[0053] The minimum required braking distance can be calculated from the speeds v0 and v1 if the starting value for the usable coefficient of friction is determined, for example, to be 0.8 for a dry, grippy road surface. This allows for the calculation of a vehicle deceleration a max of 8 m / s 2 to reach.

[0054] The coefficient of friction actually utilized for the following vehicle 303, detected by the radar, is approximately determined by deriving its speed v0 and serves to support the estimated maximum achievable vehicle deceleration. Furthermore, this value can be adjusted accordingly using known estimation methods, with an upper limit, for example, of 1.0.

[0055] This allows you to approximately calculate the minimum braking distance required for the following vehicle: s01=(v02−v12) / (2*amax) with the sizes: v0 speed of the following vehicle v1 Speed ​​of own vehicle a max Estimated maximum possible delay of the following vehicle s 01 minimum braking distance required of the following vehicle

[0056] The minimum required braking distance s 01 The measured distance to the following vehicle is compared to the actual distance. This distance is also the currently available braking distance. The difference between these two values ​​is used to calculate the missing braking distance. If the missing braking distance is greater than a threshold value, e.g., 0, and the rear impact protection is activated, the swerve control is activated (flag make_way = true).

[0057] At the same time, according to another embodiment, the driver in the following vehicle is warned, for example, by activating the hazard warning lights of the own vehicle 301 with, for example, an increased flashing frequency.

[0058] The collision avoidance system first checks the distance to the vehicle in front. If there is sufficient space and a potential rear-end collision is predicted (flag make_way = true), the driver in the vehicle is warned of the impending danger (visually and / or audibly).

[0059] The vehicle will automatically accelerate moderately, for example at 1 m / s². 2 ((223) a_accel_plus), until the available braking distance is sufficiently extended to avert the danger (make_way = false). The active increase in driving speed can be limited to a predefined threshold.

[0060] Then the vehicle will automatically brake again, for example at -3 m / s². 2 delayed ((217) a_accel_minus) or adjusted to the speed / acceleration specified by the driver.

[0061] The vehicle will automatically accelerate to, for example, -3 m / s in any case.2 The system is delayed ((217) a_accel_minus) if the measured distance to the vehicle 305 ahead falls below a critical threshold. This threshold depends on the speed difference to the vehicle 305 ahead.

[0062] This advantageously prevents a collision with the vehicle in front.

[0063] Ideally, the possible braking distance for the following vehicle is extended to prevent a rear-end collision.

[0064] As soon as a dangerous approach of the following vehicle is detected (missing braking distance greater than 1 m, for example), a prediction of the impact speed is made ((237) v_crash).

[0065] Depending on the predicted impact speed and thus the severity of the expected rear-end collision, further accompanying measures will be taken.

[0066] If the necessary clearance to the vehicle in front is insufficient, another embodiment allows for a lane change to be requested during the superimposed vehicle control of the vehicle itself. This involves checking whether enough "escape space" is available to the left and right of both the vehicle in front and the vehicle itself. This information can then be used to plan the trajectory for an active lane change.

[0067] In another embodiment, the vehicle ahead is informed of the hazardous situation. The remaining distance is transmitted as a value, and a corresponding change in position of vehicle 305 is requested.

[0068] If a rear-end collision cannot be prevented despite all measures, in a further embodiment, for example, the headrests and seatbacks are positioned as described above and the seatbelt is tightened. For this purpose, the predicted impact speed is evaluated, for example.

[0069] Should a rear-end collision occur despite all precautions, the negative effects on the occupants of the vehicles involved will at least be reduced.

[0070] The invention therefore encompasses, in particular, the concept of providing a method, especially a control method, for operating a vehicle, whereby, in the event of an imminent rear-end collision, the available clearance to the vehicle ahead is utilized to a limited extent. The vehicle automatically reduces the gap to the vehicle ahead, thus extending the usable braking distance for the vehicle dangerously approaching from behind. For example, if no clearance is available, this function can be linked to trajectory planning for an active lane change.

[0071] The movement of the following vehicle is monitored, and if a rear-end collision is imminent, the potential braking distance for the following vehicle is increased to prevent an accident. At the same time, a visual warning (for example, hazard warning lights) is preferably issued to alert the driver of the following vehicle to the dangerous situation. Ideally, this prevents a collision with the following vehicle; at the very least, it reduces the consequences of an unavoidable impact.

[0072] Even an increase in the possible braking distance of approximately three meters reduces the impact speed by 28 km / h for a vehicle that decelerates fully from an initial speed of 100 km / h at -10 m / s². 2 moving towards one's own stationary vehicle.

[0073] In its simplest form, this procedure is particularly useful when your vehicle is moving slowly, for example, at the end of a traffic jam. If the distance to the vehicle in front is still sufficient, a collision can be prevented by "making way." This procedure is also preferably used when your vehicle is already in motion.

[0074] Should the necessary clearance to the vehicle in front be insufficient, a lane change can be requested while maintaining control of one's own vehicle. It is also preferable to inform the vehicle in front of the hazardous situation and request a change of position.

[0075] The described (control) procedure utilizes existing sensors, such as the front and rear radar, in combination with the adaptive cruise control / parking system for an intelligent evasive maneuver. No additional hardware is required.

Claims

[1] Method of operating a vehicle comprising the following steps: - Determining (101) the distance between the vehicle and another vehicle following behind it, - Determining (103) a relative speed between the vehicle and the other vehicle, - Determining (105) the speed of the vehicle, - Determining (107) a minimum required braking distance for the other vehicle based on a given coefficient of friction of a road on which the two vehicles are traveling, the distance, the relative speed and the speed to avoid a collision between the vehicle and the other vehicle, - Comparing (109) the determined braking distance with the determined distance between the vehicle and the other vehicle and - Steering (111) the vehicle based on the comparison in such a way as to increase the available braking distance for the following vehicle, - wherein the specified coefficient of friction corresponds to a coefficient of friction utilized by the further vehicle, which is determined on the basis of a time derivative of a speed of the further vehicle, which is determined on the basis of the relative speed between the vehicle and the further vehicle and the speed of the vehicle. [2] Method according to claim 1, wherein the available braking distance is increased only until it corresponds to the minimum required braking distance. [3] Method according to one of the preceding claims, wherein, in the presence of another vehicle ahead of the vehicle, a distance between the vehicle and the other vehicle is determined, wherein the driving of the vehicle is carried out based on the determined distance between the vehicle and the other vehicle in such a way as not to fall below a predetermined minimum distance between the vehicle and the other vehicle. [4] Method according to claim 3, wherein the vehicle sends a distance increase request to the other vehicle, requesting that the other vehicle increase the distance between the other vehicle and the vehicle. [5] Method according to claim 3 or 4, wherein the driving includes decelerating the vehicle and / or performing a lane change to prevent the specified minimum distance from being undercut, wherein the lane change is only performed if the lane change can be performed safely. [6] Method according to one of the preceding claims, wherein an impact speed at which the other vehicle impacts the vehicle in the event of a collision is determined, wherein a restraint system of the vehicle is controlled based on the determined impact speed in order to reduce the severity of the accident for vehicle occupants. [7] Method according to one of the preceding claims, wherein the driving to increase the distance between the vehicle and the other vehicle includes accelerating the vehicle and / or performing a lane change, wherein the lane change is only performed if the lane change can be performed safely. [8] Device for operating a vehicle, which is configured to carry out the method according to any of the preceding claims. [9] Computer program comprising program code for carrying out the method according to any one of claims 1 to 7, when the computer program is executed on a computer.

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