AT525660B1 - METHOD OF OPERATING AN EGO MOTOR VEHICLE - Google Patents

Abstract

In an ego motor vehicle (E), the distance to a first motor vehicle (A) driving ahead is regulated to a minimum safety distance (amin) in at least one operating range by a control unit (10) having a distance and/or speed adjustment functionality. If it is detected that on the one hand the first motor vehicle (A) driving in front intends to overtake and on the other hand the ego motor vehicle (E) is being overtaken by the second motor vehicle (B), the minimum safety distance (amin) is reduced to a defined minimum safety distance (amin,red ) temporarily lowered or the distance and/or speed adjustment functionality of the control unit (10) suspended at least for the duration of the intended overtaking maneuver with regard to the second motor vehicle (B) and the overtaking maneuver of the first motor vehicle (A) by the ego motor vehicle (E) initiated as soon as the second motor vehicle (B) has passed the ego motor vehicle (E).

Description

Description

The invention relates to a method for operating an ego motor vehicle in which, in at least one operating range, the distance to a first motor vehicle driving ahead is regulated to a preferably speed-dependent minimum safety distance by at least one control unit having distance and/or speed adjustment functionality. The invention also relates to an ego vehicle for carrying out the method.

In known speed control systems in motor vehicles, in which a distance is detected to the vehicle in front, the safety distance selected by the driver is adjusted in seconds according to the speed driven. As a consequence, for example, if you run into a vehicle driving ahead, your own speed is reduced until the selected safety distance has been adjusted. However, this adjustment to a selected safety distance has the disadvantage, for example when a slower motor vehicle driving ahead is actively overtaking immediately after a passive overtaking maneuver by a faster motor vehicle, that at the beginning of the active overtaking maneuver and the driver’s own motor vehicle changes to the overtaking lane, the safety distance also changes with regard to the faster motor vehicle that is just overtaking and ahead in the overtaking lane is set.

[0003] For example, the speed control system of one's own motor vehicle - referred to here as the ego motor vehicle - is set to 130 km/h and the safety distance of the distance detection to two seconds when driving on the motorway. In the right lane of the Autobahn, a first motor vehicle drives ahead at 100 km/h. Because of the traffic situation, the faster ego motor vehicle cannot overtake the first motor vehicle. The cruise control system with advance detection recognizes the first motor vehicle in front and slowly reduces the distance to around 55 meters by reducing speed, which corresponds to a distance of around two seconds at 100 km/h. Now, if the traffic situation allows the ego motor vehicle to overtake, if a faster second motor vehicle has just passed the ego motor vehicle in the U fast lane and the ego motor vehicle then changes to the left into the fast lane to overtake the first motor vehicle, the cruise control system tries regulate the safety distance between the second motor vehicle and the ego motor vehicle to 55 meters. In other words, the cruise control system in the ego motor vehicle will attempt to further reduce the speed of the ego motor vehicle in order to regulate the safety distance again, although the ego motor vehicle is already pulling out into the U fast lane to overtake. This can sometimes lead to very strong and dangerous braking maneuvers in the fast lane. In addition, the course of the speed of the ego motor vehicle is felt to be very inhomogeneous and uncomfortable.

DE 10 2013 214 308 A1 discloses a distance controller for motor vehicles with a locating device for measuring distances to vehicles driving ahead, an actuator system for intervening in the longitudinal guidance of one's own motor vehicle and an electronic control device for actuating the actuator system and for Regulation of the distance to a motor vehicle driving ahead in one's own lane to a desired distance is known. The control device has an adjacent lane mode in which the setpoint distance is modified as a function of a measured distance from a motor vehicle traveling in an adjacent lane.

The object of the invention is to avoid the disadvantages mentioned and to improve safety and driving comfort when overtaking.

The object of the invention is achieved according to the invention with a method of the type mentioned at the outset, in which the following steps are carried out:

[0007] + monitor whether in front of the ego motor vehicle in the same lane a first motor

vehicle drives, which requires a speed or distance adjustment of the ego vehicle;

[0008] + monitor whether the ego motor vehicle intends to overtake the motor vehicle in front;

+ monitor whether the ego motor vehicle is being overtaken by a second motor vehicle, the speed of the second motor vehicle being detected;

+ if it is detected that on the one hand an overtaking of the preceding first motor vehicle by the ego motor vehicle is intended and on the other hand the ego motor vehicle is overtaken by the second motor vehicle: temporary lowering of the minimum safety distance to a defined reduced minimum safety distance or temporary suspension of the distance and/or speed adjustment functionality of the control unit with regard to the second motor vehicle at least for the duration of the process of overtaking the first motor vehicle by the ego motor vehicle;

+ Initiating the overtaking of the first motor vehicle by the ego motor vehicle as soon as the second motor vehicle has passed the ego motor vehicle.

So it is for the overtaking maneuver of the normal driving - lowered associated minimum safety distance to a reduced minimum safety distance - so without overtaking maneuver. As a result, delaying control interventions during the overtaking maneuver are avoided and a homogeneous speed profile is achieved.

Preferably, the initiation of the overtaking process includes changing the lane of the ego motor vehicle to an overtaking lane.

By temporarily reducing the minimum safety distance to the second motor vehicle that has just overtaken the ego motor vehicle to a defined reduced minimum safety distance or by temporarily suspending the distance and/or speed adjustment functionality with regard to the second motor vehicle, it is possible to avoid that after initiating the overtaking process, the ego motor vehicle is braked by the control unit, even if the distance to the second motor vehicle now driving ahead in the passing lane does not yet correspond to the minimum safety distance corresponding to the speed. A reduction of the minimum safety distance to the second motor vehicle is acceptable in particular without compromising safety if the speed of the second motor vehicle driving in front of the ego motor vehicle in the U overtaking lane is greater than the speed of the ego motor vehicle.

The reduced minimum safety distance is preferably defined as a function of the speed difference between the second motor vehicle and the ego motor vehicle. The faster the second motor vehicle moves relative to the ego motor vehicle during the overtaking maneuver, the smaller the reduced minimum distance can be, since the minimum safety distance assigned to normal operation is reached relatively quickly if the speed difference is large.

It is preferably checked before initiating the overtaking process whether at least one defined boundary condition for initiating the overtaking process is met.

To avoid safety losses, it is advantageous if it is set as a boundary condition that the speed difference between the second motor vehicle and the ego motor vehicle corresponds to at least a defined minimum speed. The second motor vehicle must therefore move faster in the direction of travel by a defined value than the ego motor vehicle. For safety reasons, it is also favorable if it is specified as a boundary condition that when the overtaking maneuver is initiated - i.e. when the ego motor vehicle changes to the passing lane - the clear initial distance measured in the direction of travel between the second motor vehicle and the ego motor vehicle corresponds to at least a defined minimum distance . The clear initial distance is measured between the front of the ego motor vehicle and the rear of the second motor vehicle, in particular between the left front

their corner of the ego motor vehicle and the right rear corner of the second motor vehicle.

In one embodiment of the invention, it is provided that the temporary reduction in the minimum safety distance or the temporary suspension of the distance and/or speed adjustment functionality is lifted again if, after initiating the Uovertaking maneuver, the speed of the second motor vehicle is the same as or less than the speed of the first motor vehicle is. If, for example, the overtaking second motor vehicle slows down for some reason while the ego motor vehicle driving behind the second motor vehicle overtakes the first motor vehicle, in particular the second motor vehicle is slower than the ego motor vehicle, the temporary reduction or suspension of the minimum safety distance is lifted . In this way, the control unit is again regulated to the minimum safety distance corresponding to the instantaneous driving speed, in order to avoid driving into the second motor vehicle.

Provision can also be made for the temporary lowering of the minimum safety distance or temporary suspension of the distance and/or speed adjustment functionality to be lifted again as soon as the overtaking of the first motor vehicle by the ego motor vehicle has ended. As an alternative to this, the temporary lowering of the minimum safety distance or the temporary suspension of the distance and/or speed adjustment functionality can be lifted again after a defined period of time or a defined route. The defined period of time or the defined route can be determined depending on the speed.

It when the speed of the ego motor vehicle is gradually adapted to the speed of the second motor vehicle during or after the initiation of the U overtaking process is particularly advantageous. As a result, the adjustment of the safety distance to the minimum safety distance corresponding to the instantaneous speed can be designed homogeneously. Abrupt acceleration or braking maneuvers can be avoided.

A motor vehicle with at least one control unit with a distance and/or speed adjustment functionality is suitable for carrying out the method.

[0022] To solve the task, the control unit

[0023] °- a first monitoring device on or connected to a first monitoring device, which is designed to detect and monitor at least one first motor vehicle driving in front of the ego motor vehicle, the speed of the first motor vehicle being detectable,

[0024]° a second monitoring device on or connected to a second monitoring device, which is designed to detect whether the ego motor vehicle intends to overtake the first motor vehicle in front,

° a third monitoring device is on or connected to a third monitoring device, which is designed to detect and monitor a second motor vehicle in the adjacent lane, in particular in a passing lane, the speed of the second motor vehicle being detectable,

whereby

[0026] °- the control unit is designed to temporarily reduce the minimum safety distance to a defined, reduced minimum safety distance - at least for the duration of the intended overtaking of the first motor vehicle by the ego motor vehicle - or to temporarily reduce the distance and/or speed adjustment functionality with regard to it suspend the overtaking second motor vehicle if it is recognized that on the one hand the ego motor vehicle intends to overtake the preceding first motor vehicle and on the other hand the ego motor vehicle is being overtaken by the second motor vehicle,

and where

° The control unit is further designed to initiate an overtaking of the first motor vehicle by the ego motor vehicle as soon as the second motor vehicle has overtaken the ego motor vehicle.

The control unit preferably has an override device, which is designed to temporarily lower the minimum safety distance or temporarily suspend the distance and/or speed adjustment functionality as a function of time and/or distance and/or speed—in particular as a function of a speed difference and/or depending on a speed difference gradient between the second motor vehicle and the ego motor vehicle - to be canceled again.

[0029] The method according to the invention can be used to avoid the situation in which braking maneuvers, which are sometimes very strong and dangerous, occur when overtaking in the fast lane. In addition, the speed profile when overtaking is perceived as homogeneous and pleasant.

The invention is explained in more detail below with reference to the embodiment shown in the figures. It shows schematically:

1 shows a flow chart of the method according to the invention, [0032] FIG. 2 shows a motor vehicle according to the invention and

3 to 5 different stages of a driving situation to illustrate the method according to the invention.

In the following, we refer to one's own motor vehicle as ego motor vehicle E and other motor vehicles as first motor vehicle A and second motor vehicle B.

The method according to the invention includes the following steps S0 to S6, as illustrated in the flow chart shown in FIG. 1:

In step SO it is monitored whether there is a first motor vehicle A in front of the ego motor vehicle E in the same right lane 2, which requires a speed or distance adjustment of the ego vehicle E. If this is the case, it is checked in step S1 whether the ego motor vehicle E intends to overtake the first motor vehicle A driving ahead. In particular, it is checked whether there are any indications of an intended overtaking of the first motor vehicle A or whether the driver of the ego vehicle E has already taken action to overtake, for example by actuating a direction indicator, turning the steering wheel, etc. An impending overtaking maneuver can also be derived if the speed difference Av between a first motor vehicle A driving ahead in the right lane 2 and the ego motor vehicle E is greater than a threshold value Avs and/or if the distance a between the first motor vehicle A and the ego motor vehicle E is reduced and falls below a threshold value as and/or the change in the distance over time da/dt exceeds a defined threshold value. Conversely, the intention of overtaking can be ruled out with a high degree of probability if the distance a between the first motor vehicle A driving ahead in the right lane 2 and the ego motor vehicle E remains constant and is above the threshold value as.

In step S2, it is monitored whether the ego motor vehicle E is being overtaken by at least one second motor vehicle B traveling in the left lane 3—the passing lane. If this is the case, the speed vs of the at least one second motor vehicle B is recorded. This step only needs to be carried out if an intention to overtake the first motor vehicle A by the ego motor vehicle E was recognized in step S1. As an alternative to this, step S2 can also be carried out continuously, ie without a recognized intention to overtake;

If it is recognized that, on the one hand, the first motor vehicle A driving ahead in the right lane 2 intends to overtake and, on the other hand, the ego motor vehicle E is being overtaken by at least one second motor vehicle B in the U overtaking lane 3, step S3 is carried out. Step S3 provides that the minimum safety distance amın temporarily

a - speed-dependent or fixed - defined reduced minimum safety distance amin,,ea AT least for the duration of the intended overtaking maneuver with regard to the second motor vehicle B, which has just overtaken the ego motor vehicle E. The reduced minimum safety distance amin,ea is smaller than the speed-dependent minimum safety distance amin valid in normal driving operation—that is, without overtaking manoeuvres. In one exemplary embodiment of the invention, the reduced minimum safety distance amin,ea is approximately half the speed-dependent minimum safety distance amin of normal driving operation of the ego motor vehicle E.

Alternatively, it can be provided in step S3 that temporarily the distance and / or speed adjustment functionality of the control unit 10, also at least for the duration of the intended overtaking, at least with regard to the overtaking second motor vehicle B is suspended.

In step S4, it is checked whether at least one of the following defined boundary conditions for initiating the overtaking process is met:

Does the speed difference Av» between the second motor vehicle B and the ego motor vehicle E correspond to at least one defined minimum speed difference Avzmin?

Does the clear initial distance a measured in the direction of travel between the second motor vehicle B and the ego motor vehicle E correspond to at least the defined reduced minimum safety distance amin,ea? If the distance and/or speed adjustment functionality is temporarily suspended, it is checked whether the clear initial distance a measured in the direction of travel between the second motor vehicle B and the ego motor vehicle E is greater than zero or at least corresponds to a fixed minimum value ao of, for example, three meters.

In step S5, the overtaking process of the first motor vehicle A is initiated by the ego motor vehicle E. If it was determined in step S2 that the ego motor vehicle E is being overtaken by a second motor vehicle B, the process waits until the second motor vehicle B has overtaken the ego motor vehicle E.

In step S6, the lowering or cancellation of the minimum safety distance amin is canceled. This normally occurs after the end of the overtaking process of the first motor vehicle A by the ego motor vehicle E, ie after the first motor vehicle A has been overtaken by the ego motor vehicle E. However, the reduction or cancellation of the minimum safety distance amin can also be canceled prematurely if the speed of the second motor vehicle B driving in the left lane 3 in front of the ego motor vehicle E decreases, in particular if the second motor vehicle B is slower than the ego motor vehicle E

FIG. 2 schematically shows an ego motor vehicle E for carrying out the method according to the invention. The ego motor vehicle E contains at least one control unit 10 with a cruise control system 15 with advance detection. The control unit 10 is designed with a distance and/or speed adjustment functionality that makes it possible to control the speed of the ego vehicle E in such a way that a defined, speed-dependent minimum safety distance from a first vehicle A driving ahead is maintained. In the present context, the concept of advance detection means detection of a motor vehicle A, B in the immediate vicinity in front of and possibly also to the side of the ego motor vehicle E. Such advance detection can be camera-supported or sensor-supported, for example with radar or lidar or ultrasound.

For this purpose, control unit 10 has a first monitoring device 11 or is connected to a first monitoring device 11, which is designed to detect and monitor at least one first motor vehicle A driving in front of ego motor vehicle E, with the speed of the at least a first motor vehicle A can be detected.

The control unit 10 also has a second monitoring device 12 or is connected to a second monitoring device 12, which is designed to detect whether an overtaking maneuver of the ego motor vehicle E is intended. This can be derived, for example, from a typical behavior of the driver of the ego motor vehicle E by actuating a speed change display, a characteristic steering movement or—possibly using a self-learning system.

The control unit 10 also has a third monitoring device 13 or is connected to a third U-monitoring device 13, which is designed to detect and monitor at least one second motor vehicle B in the adjacent lane 3, in particular in a passing lane. wherein the speed of the at least one second motor vehicle B can be detected.

The control unit 10 is designed to temporarily reduce the minimum safety distance to a defined reduced minimum safety distance - at least for the duration of the intended overtaking maneuver - or to temporarily suspend the distance and/or speed adjustment functionality, at least with regard to the overtaking second motor vehicle B , if it is recognized that on the one hand an overtaking maneuver of the first motor vehicle A driving ahead is intended and on the other hand the ego motor vehicle E is being overtaken by at least one second motor vehicle B.

The control unit 10 is further designed to initiate an overtaking of the first motor vehicle A by the ego motor vehicle E as soon as the second motor vehicle has overtaken the ego motor vehicle E.

The control unit 10 has a cancellation device 14, which is designed to temporarily lower the minimum safety distance or temporarily suspend the distance and/or speed adjustment functionality as a function of time and/or distance and/or speed—in particular as a function of a speed difference and/or or by a speed difference gradient between the second motor vehicle B and the ego motor vehicle E - to be canceled again.

3 to 5 show different stages of an exemplary driving situation of an ego motor vehicle E and other motor vehicles A, B using the method according to the invention. The speed of the motor vehicles E, A, B is indicated by the length of the arrows.

Fig. 3 shows a first phase: The ego vehicle is driving in the right lane behind the first motor vehicle A and is just being overtaken by a second motor vehicle B.

shows a second phase: The ego motor vehicle E has just changed from the right lane 2 to the left lane 3 in order to overtake the first motor vehicle A. The distance to the second motor vehicle B driving ahead is amin, red.

5 shows a third phase: the ego motor vehicle E is driving behind the faster second motor vehicle B while the first motor vehicle A is overtaking. The distance between the second motor vehicle B and the ego motor vehicle E has increased to amin,z .

The driving situation is described in detail below: For example, when driving on a two-lane road 1, for example a motorway, the control unit 10 of the ego motor vehicle E is set to 130 km/h and the safety distance of the control unit 10 to two seconds. When driving in the right lane 2, a slower first motor vehicle A appears in front of the ego motor vehicle E, which is moving at a speed of 100 km/h, for example.

As can be seen in Fig. 3, the ego motor vehicle A is driving in the right lane 2 of an at least two-lane road 1, for example a motorway, at a speed ve behind a first motor vehicle A, which is driving at a lower speed va, and is being followed by a second motor vehicle B with the higher speed ve on the left

Track 3 overhauled.

The cruise control system with advance detection of the control unit 10 of the ego motor vehicle E recognizes the first motor vehicle A driving ahead at a speed va of, for example, 100 km/h and regulates the distance between the ego motor vehicle E and the first motor vehicle A slowly by reducing the speed to a minimum safety distance a down from 55 meters, which corresponds to a time difference of about two seconds at 100 km/h. Due to the traffic situation, the ego motor vehicle E cannot yet overtake the slower first motor vehicle A and must wait until it is overtaken by the faster second motor vehicle B traveling at speed vs.

If the traffic situation enables the ego motor vehicle E to overtake the first motor vehicle A, i.e. if the faster second motor vehicle B is just passing the ego motor vehicle E in the left lane 3, the ego motor vehicle E can leave the right lane 2 change to the left lane 3 in order to overtake the first motor vehicle A.

If this lane change already takes place before the distance between the ego motor vehicle E and the second motor vehicle B corresponds at least to the speed-dependent minimum safety distance amin, a conventional cruise control system, as is known from the prior art, would attempt to increase the safety distance between the second motor vehicle B and the ego motor vehicle E to the minimum safety distance amin of 55 meters, for example, which corresponds to the current speed of the ego motor vehicle E, i.e. try to further reduce the speed of the ego motor vehicle E, which sometimes leads to very strong and dangerous braking maneuvers would result in following traffic in the left lane.

According to the invention, the minimum safety distance is lowered to a defined, reduced minimum safety distance amin,ea or the distance and/or speed adjustment functionality of the control unit is temporarily disabled - in particular with regard to the second motor vehicle B - at least for the duration of the intended overtaking maneuver of the first motor vehicle A suspended as soon as the second motor vehicle B passes the ego motor vehicle E. As shown in FIG. 4, the ego motor vehicle E can change from the right lane 2 to the left lane 3 immediately after it has been overtaken by the second motor vehicle B and overtake the first motor vehicle A immediately behind the second motor vehicle B without the control unit 10 braking the ego motor vehicle E in order to produce a minimum safety distance amin, corresponding to the speed, between the second motor vehicle B and the ego motor vehicle.

After the lane change of the ego motor vehicle E from the right lane 2 to the left lane 3, there is thus no reduction in the speed of the ego motor vehicle E to set a minimum safety distance amin corresponding to normal driving operation. Rather, the ego motor vehicle E maintains the initial speed when changing lanes until the higher speed vs of the second motor vehicle B sets the minimum safety distance amiın by itself.

Since the second motor vehicle B is moving at a higher speed vs than the first motor vehicle E, at least at the beginning of the overtaking maneuver initiated by the first motor vehicle E, the distance a between the second motor vehicle B and the first motor vehicle E will increase and quickly reach the minimum safety distance amin,z corresponding to the new current speed ve of the ego motor vehicle E of, for example, 130 km/h (see FIG. 5). In order to enable a high level of driving comfort with as homogeneous a locomotion as possible without abrupt accelerations or decelerations, the speed v i of the ego motor vehicle E can be slowly brought up to the speed vs of the second motor vehicle B.

Claims (12)

patent claims 1. Method for operating an ego motor vehicle (E) in which, in at least one operating range, the distance to a first motor vehicle (A) driving ahead is reduced by at least one control unit (10) having a distance and/or speed adjustment functionality to a preferably speed-dependent minimum safety distance (amin ) is regulated, characterized in that the following steps are carried out: * monitor whether a first motor vehicle (A) is driving in front of the ego motor vehicle (E) in the same lane (2), which requires a speed or distance adjustment of the ego vehicle (E); * monitor whether the first motor vehicle (A) driving ahead is intended to be overtaken by the ego motor vehicle (E); * monitor whether the ego motor vehicle (E) is being overtaken by a second motor vehicle (B), the speed (ve) of the second motor vehicle (B) being detected; * if it is recognized that, on the one hand, the ego vehicle (E) intends to overtake the first motor vehicle (A) driving in front and, on the other hand, the ego motor vehicle (E) is being overtaken by the second motor vehicle (B): temporary lowering of the minimum safety distance (amin ) to a - preferably speed-dependent - defined reduced minimum safety distance (aAmin,ea) Or temporarily suspending the distance and/or speed adjustment functionality of the control unit (10) with regard to the second motor vehicle (B) at least for the duration of the process of overtaking the first motor vehicle (A) by the ego vehicle (E); * Initiation of the overtaking process of the first motor vehicle (A) by the ego motor vehicle (E) as soon as the second motor vehicle (B) has passed the ego motor vehicle (E). 2. The method according to claim 1, characterized in that before the initiation of the overtaking maneuver it is checked whether at least one defined boundary condition for initiating the overtaking maneuver is met. 3. The method according to claim 1 or 2, characterized in that the initiation of the overtaking maneuver includes changing the motor vehicle lane (2) of the ego motor vehicle (E) to an overtaking lane (3). 4. The method according to any one of claims 1 to 3, characterized in that the temporary lowering of the minimum safety distance (amin) or temporary suspension of the distance and / or speed adjustment functionality is canceled again as soon as the overtaking maneuver of the first motor vehicle (A) by the ego Motor vehicle (E) is finished. 5. The method according to any one of claims 1 to 4, characterized in that the temporary lowering of the minimum safety distance (amin) or the temporary suspension of the distance and/or speed adjustment functionality is canceled again after a defined period of time or a redefined route, with preferably the defined period of time or the defined route is determined as a function of speed. 6. The method according to any one of claims 1 to 5, characterized in that the temporary lowering of the minimum safety distance (amin) or temporary suspension of the distance and/or speed adjustment functionality is canceled again if, after initiating the overtaking maneuver, the speed (vs) of the second motor vehicle (B) equal to or less than the speed (v£) of the ego motor vehicle (E). 7. The method according to any one of claims 1 to 6, characterized in that the speed (v:) of the ego motor vehicle (E) is adapted to the speed (ve) of the second motor vehicle (B) during or after the initiation of the overtaking maneuver. 8. The method according to any one of claims 2 to 7, characterized in that it is specified as a boundary condition that the speed difference (Av2) between the second motor vehicle (B) and the ego motor vehicle (E) is at least a defined minimum speed (Av2,min) is equivalent to. 9. The method according to any one of claims 2 to 8, characterized in that it is specified as a boundary condition that when the overtaking maneuver is initiated, the clear initial distance (a) measured in the direction of travel between the second motor vehicle (B) and the ego motor vehicle (E) is at least one defined Minimum distance (ao) corresponds. 10. The method as claimed in one of claims 1 to 9, characterized in that the reduced minimum safety distance (amin,eda) is defined as a function of the speed difference (Av) between the second motor vehicle (B) and the ego motor vehicle (E). 11. Personal motor vehicle (E) with at least one control unit (10) having a distance and/or speed adjustment functionality for carrying out the method according to one of claims 1 to 10, characterized in that the control unit (10) * has a first monitoring device (11) or is connected to a first monitoring device (11), which is designed to detect and monitor at least one first motor vehicle (A) driving in front of the ego motor vehicle (E), the speed (va) of the first motor vehicle (A) can be detected, * has a second monitoring device (12) or is connected to a second monitoring device (12), which is designed to detect whether the first motor vehicle (A) driving ahead is intended to be overtaken by the ego motor vehicle (E), _ * has a third monitoring device (13) or is connected to a third monitoring device (13), which is designed to monitor a second motor vehicle (B) on the neighboring " * to recognize and monitor the lane, in particular in a passing lane (3), with the speed (vg) of the second motor vehicle (B) being detectable, whereby * the control unit (10) is designed to - at least for the duration of the intended Uovertaking maneuver of the first motor vehicle (A) by the ego motor vehicle (E) - temporarily lower the minimum safety distance (amin) to a defined reduced minimum safety distance (Amine) or lower it temporarily suspend the distance and/or speed adjustment functionality with regard to the overtaking second motor vehicle (B) if it is recognized that on the one hand the first motor vehicle (A) driving ahead is intended to be overtaken by the ego motor vehicle (E) and on the other hand the ego motor vehicle (E) is overtaken by the second motor vehicle (B), and where _ * the control unit (10) is designed to initiate an overtaking process of the first motor vehicle (A) by the ego motor vehicle (E) as soon as the second motor vehicle (B) has overtaken the ego motor vehicle (E). 12. Personal motor vehicle (E) according to claim 11, characterized in that the control unit (10) has a cancellation device (15) which is designed to temporarily lower the minimum safety distance (amin) or temporarily suspend the distance and/or or speed adjustment functionality as a function of time and/or as a function of distance and/or as a function of speed - in particular as a function of a speed difference (Av) and/or as a function of a speed difference gradient between the second motor vehicle (B) and the ego motor vehicle (E) - again. 3 sheets of drawings