DE102018002335A1 - Control system and control method for predictively limiting vehicle acceleration - Google Patents

Abstract

A control system is set up for use in an own motor vehicle (ego) located in a lane (12) of a lane (14) and determines at least preceding vehicles based on at least one environment sensor assigned to the own motor vehicle (ego). to recognize. The at least one environmental sensor is configured to provide an electronic control unit with the environment data reproducing an area (30) in front of its own motor vehicle (ego). The control system is at least adapted and determined by adjusting a vehicle acceleration of the own motor vehicle (ego) to adjust an actual speed of the own motor vehicle (ego) to an adjustable target speed or by adjusting the vehicle acceleration of the own motor vehicle (ego) a predetermined time interval of the own motor vehicle (ego) to an in the same lane (12) preceding motor vehicle (age) set when the preceding vehicle (age) moves at a speed which is less than the target speed. The control system is further configured and determined to determine information on a lying in the area in front of the own motor vehicle (ego) curve of the lane (12) in which the own motor vehicle (ego) is located, and in accordance with the information obtained limit maximum vehicle acceleration of your own motor vehicle (ego).

Description

Background of the invention

Here, a control system and a control method for predictively limiting a maximum vehicle acceleration of an own motor vehicle are disclosed. This control system and control method is based for example on an environment sensor system in the own motor vehicle and supports a driver or an autonomously driving motor vehicle. In particular, the control system and the control method are used in motor vehicles with an ACC system (Adaptive Cruise Control). In semi-autonomous motor vehicles and autonomously controlled motor vehicles, it increases the safety of the occupants of the motor vehicle.

State of the art

Today's driver assistance systems (ADAS) offer in motor vehicles a variety of monitoring and alert functions to make driving a motor vehicle safer. In this case, the environment of the motor vehicle is monitored based on environment data obtained from one or more surroundings sensors located on the motor vehicle with regard to the course of the journey of the own motor vehicle.

In so-called ACC (Adaptive Cruise Control) systems, the speed of one's own motor vehicle is adapted to the speed of a preceding vehicle with an automatic cruise control. In this case, always a certain distance from the preceding vehicle should be maintained. For this purpose, such systems determine a direction of movement and / or a speed of the preceding motor vehicle, in order to avoid that the own motor vehicle crosses the path of the preceding motor vehicle so that it comes to a critical situation. This applies on the one hand lane changes or turning operations and on the other hand the avoidance of rear-end collisions.

In a cruise control in a motor vehicle, which regulates the distance to a preceding vehicle, as well as an emergency brake assist in a motor vehicle are driver assistance systems that respond to other road users, for example other vehicles or pedestrians. For this, the most relevant road user is selected to carry out a corresponding action.

In passenger-guided vehicles, the driver assistance systems usually provide a hinting or influencing function to warn the driver of a critical situation or maneuver, or to propose to the driver a suitable maneuver for his own vehicle, and / or to perform that procedure. Likewise, the driver assistance systems can also be used in autonomously controlled motor vehicles in order to provide the autonomous control with the corresponding environmental data.

The assistance of a driver of a motor vehicle by control or driver assistance systems, such as ACC systems, contributes to the ride comfort and operational safety of (power) vehicles. Control or driver assistance systems can detect external influences on one's own driving situation and draw the driver's attention to these influences by means of visual, acoustic or haptic signals. This allows the driver to recognize the influences on his own driving situation early and react appropriately. By early detection of external influences on the driving situation and subsequent appropriate reactions of the driver can indirectly also the ride comfort and safety of other road users are positively influenced.

An active cruise control - ACC - detects vehicles ahead, determines their speeds and maintains a desired distance by braking and engine intervention. The driver can be relieved so especially with longer trips and decreasing concentration. The ACC system is based on a cruise control. When the vehicle picks up a vehicle in front, the ACC system automatically brakes the driver's own vehicle by means of engine and / or brake interventions and maintains a distance to the vehicle in front set by the driver. For this purpose, the relative speed between the own ACC vehicle and the vehicle ahead is determined by means of radar. As soon as there is no vehicle ahead in the measuring range of the radar lobe, the ACC system accelerates the vehicle to a pre-selected speed. Via a control unit in the cockpit, the driver selects the desired speed and the desired distance to vehicles in front. A display in the cockpit informs the driver about the operating status and the selected settings. In addition to the desired speed, the driver of the own vehicle selects the distance as a time interval, which is adhered to the preceding vehicles.

The ACC system has a sensor-controller unit that includes the radar sensor and the ACC controller. The detection range of modern ACC systems ranges from 0.5 to 250 meters with an opening angle of the radar lobe of up to 30 degrees.

The radar sensor determines data from which distance and relative speed to a vehicle in front are determined. From this the remaining time to a collision can be determined. The sensors of the Electronic Stability Program provide direction information to select vehicles that are relevant for ACC control. If the ACC system detects a slower preceding vehicle in its own traffic lane, it adjusts the speed by intervening in the engine management system and the braking system so that the vehicle follows it at the desired distance. Even in bends, the ACC system can detect which of the vehicles in front is decisive for the cruise control of the own vehicle. If your own lane is free, the vehicle accelerates to the preselected speed. The ACC system is designed as a comfort system. The degree of acceleration and braking intervention are deliberately limited. In conventional ACC systems, the driver must continue to make decisions about steering maneuvers or heavy braking himself. The driver's request always has priority over the automatic control.

Underlying problem

Although in an active cruise control by means of an ACC system at least preceding vehicles are detected and taken into account, it may be due to other factors to influence the own motor vehicle by the ACC system, which is inappropriate in a current driving situation. At least the automatic influence of one's own motor vehicle may seem inappropriate to the driver due to further factors in a current driving situation. Under certain circumstances, this can lead to critical driving situations.

An inappropriate or inappropriate appearing influence of the driver's own vehicle by driver assistance systems, in particular by ACC systems, can therefore make a manual intervention of the driver required, which counteracts an influence of the own motor vehicle by the ACC system, for example.

It is therefore an object to provide a control system and a control method for a motor vehicle, the known ACC systems further improved in terms of achievable ride comfort and thus achievable driving safety.

Suggested solution

This object is achieved by a control system having the features of claim 1 and a control method having the features of claim 8. Preferred embodiments will become apparent from the dependent claims 2 to 7 and 9 to 12 and the following description.

One aspect relates to a control system which is set up and intended for use in an own motor vehicle located in a traffic lane of a roadway and to recognize at least preceding vehicles based on environment data obtained from at least one environment sensor assigned to its own motor vehicle. In particular, vehicles with vehicles in front of them are vehicles which have the same direction of travel as their own motor vehicle. The at least one environmental sensor is configured to provide an electronic control unit of the control system with the environmental data reproducing an area in front of its own motor vehicle.

The control system is at least configured and determined by adjusting a vehicle acceleration of the own motor vehicle to adjust an actual speed of the own motor vehicle to an adjustable target speed or by setting the vehicle acceleration of the own motor vehicle a predetermined time interval of the own motor vehicle to a driving ahead in the same lane Set vehicle when the vehicle ahead moves at a speed that is less than the set target speed. Adjusting the vehicle acceleration of the own motor vehicle may include setting a negative acceleration, a positive acceleration, or an acceleration equal to zero (keeping the actual speed constant). Over a period of the control, adjusting the vehicle acceleration of the own motor vehicle may include adjusting a negative acceleration, a positive acceleration, and / or an acceleration equal to zero.

In other words, the control system can either regulate the current actual speed of the own motor vehicle to the set target speed, if in the area in front of the own motor vehicle no preceding vehicle or a preceding motor vehicle is detected, which is a higher speed than the set target Speed, or the control system can keep a distance as a defined time interval between the own motor vehicle and a preceding vehicle constant when a preceding vehicle is detected on the same lane and this has a lower speed than the set target speed. The distance in the form of the time interval can be individually predeterminable or adjustable by the driver.

The control system is further set up and determined to determine information about a lying in the area in front of the own motor vehicle curve of the lane, in which the own motor vehicle is located, and in accordance with the information determined to limit the maximum vehicle acceleration of the own motor vehicle. In this case, it can be provided, in particular, that the control system limits only the vehicle acceleration set and / or adjustable by the control system to a maximum limit value, that is to say the vehicle acceleration within the scope of the control, but preferably not the acceleration caused manually by the driver of his own motor vehicle.

The ascertaining of the information concerning the curve of the lane can comprise in particular that the control system is set up and determined to determine, based on specific criteria or on the basis of information acquired by means of the at least one environmental sensor, whether there is a curve at all. However, it must not be explicitly distinguished by means of the control system whether a curve of the lane is present in the area in front of the own motor vehicle. Rather, it can be determined, for example in a straight lane course by means of the control system as information about the curve of the lane that the curve has a radius of curvature that goes to infinity, or has a curvature that goes to zero.

In particular, in the case of a substantially straight lane (ie curve radius substantially infinite, curvature to zero) may be determined by the control system limit for the maximum vehicle acceleration of the own motor vehicle over the vehicle acceleration, the control system to reach the target speed or reaching of the predetermined time interval.

Accordingly, the control system accelerates the own motor vehicle according to the situation selectively with the desired vehicle acceleration or the maximum vehicle acceleration, if this is less than the desired vehicle acceleration due to the curve.

It is understood that the executable by means of the control system settings, regulations, influences, investigations, etc., in particular by means of the control of the control system can be executed.

Compared with conventional driver assistance systems, more precisely compared to known ACC systems, the above control system is extended by an additional comfort and safety function. Thus, the control system implements a predictive limitation of the maximum ACC adjustable vehicle acceleration according to the lane course, i. taking into account other environmental factors. As a result, critical or critical situations driver appearing can be avoided by early intervention in the longitudinal dynamics of your own motor vehicle, which contributes to an increase in ride comfort and driving safety and reduces additional driver intervention. The control system also expands the field of application of ACC systems due to the additional function.

To record the environmental data, a radar, lidar, ultrasound and / or video sensor can be provided as the at least one environment sensor. It is understood that several environment sensors of the same or different types can be provided.

According to a development, the information about the curve that the control system determines may include information about lane markings and / or lane boundaries. This information can be detectable, for example, by means of the at least one environment sensor. The lane markings and / or lane boundaries may in particular be those of the lane in which the own motor vehicle is located.

Also, by means of the at least one environment sensor or further sensors, markings and / or boundaries of further lanes and / or the entire roadway can be determined, which serve as information about the course of the curve.

Further, the information about the curve that the control system determines may include information provided by a GPS system.

In a further embodiment of the control system, the information about the curve may include information about a lane of the preceding vehicle. This information can be detectable by means of the at least one environment sensor. The control system may detect a yaw rate and preferably a speed of the preceding vehicle over a predetermined period of time. Additionally or alternatively, the guidance system may detect a change in position of the preceding vehicle over a predetermined period of time.

In one development, the information about the curve, which the control system determines, may include information about the actual speed and a yaw rate of the own motor vehicle.

For example, information about the course of the curve can be determined by linking various parameters available to the control system.

In a further embodiment, the control system can be set up and determined to determine an expected vehicle yaw rate of the own motor vehicle based on at least the information about the curve and to limit the maximum vehicle acceleration in accordance with at least the determined expected vehicle yaw rate. For example, the control system can determine the expected vehicle yaw rate taking into account at least one current output yaw rate of the own motor vehicle, a currently set steering angle of the own motor vehicle, the actual speed of the own motor vehicle and / or the above information about the curve. Thus, based on information about the curve, an expected influencing of the steering angle of the own motor vehicle by the driver can be predicted and taken into account in the determination of the expected vehicle yaw rate.

In a further embodiment, the control system can be set up and determined to determine an expected vehicle speed of the own motor vehicle based on at least the information about the curve and to limit the maximum vehicle acceleration in accordance with at least the determined, anticipated vehicle speed. Also, the control system can take into account the actual speed of the own motor vehicle as output speed. Furthermore, based on information about the curve, an expected influencing of the speed of the driver's own vehicle by the driver can be predicted and taken into account in the determination of the expected vehicle speed.

In a further embodiment, the control system can be set up and determined to limit the maximum vehicle acceleration in accordance with at least the predetermined time interval of one's own motor vehicle to the motor vehicle driving ahead in the same lane.

The control system may in particular select the limitation of the maximum vehicle acceleration in accordance with the determined information about the curve, such that the expected vehicle yaw rate, the expected vehicle acceleration and / or other expected parameters in a physically possible and safe for the driving behavior of the own motor vehicle area lie.

A further aspect relates to a control method for use in an own motor vehicle located in a traffic lane of a roadway, in which at least preceding motor vehicles are recognized based on environment data obtained from at least one surroundings sensor assigned to the own motor vehicle. By means of the at least one environmental sensor, an electronic control of the control system is provided the environment data reproducing an area in front of the own motor vehicle.

• - Anpassen einer Ist-Geschwindigkeit des eigenen Kraftfahrzeugs an eine einstellbare Soll-Geschwindigkeit durch Einstellen einer Fahrzeugbeschleunigung des eigenen Kraftfahrzeugs, oder
• - Einstellen eines vorbestimmten Zeitabstands des eigenen Kraftfahrzeugs zu einem in demselben Fahrstreifen vorausfahrenden Kraftfahrzeug durch Einstellen der Fahrzeugbeschleunigung des eigenen Kraftfahrzeugs, wenn sich das vorausfahrende Kraftfahrzeug mit einer Geschwindigkeit bewegt, die geringer als die Soll-Geschwindigkeit ist.

The control method comprises at least the steps:

• - Adapting an actual speed of the own motor vehicle to an adjustable target speed by adjusting a vehicle acceleration of the own motor vehicle, or
• - Setting a predetermined time interval of the own motor vehicle to a driving in the same lane motor vehicle by adjusting the vehicle acceleration of the own motor vehicle, when the preceding motor vehicle moves at a speed which is less than the target speed.

• - Ermitteln von Informationen zu einem in dem Bereich vor dem eigenen Kraftfahrzeug liegenden Kurvenverlauf des Fahrstreifens, in dem sich das eigene Kraftfahrzeug befindet, und
• - Begrenzen der maximalen Fahrzeugbeschleunigung des eigenen Kraftfahrzeugs () nach Maßgabe der ermittelten Informationen.

The control method comprises the further steps:

• Determining information about a lying in the area in front of the own motor vehicle curve of the lane, in which the own motor vehicle is located, and
• - Limiting the maximum vehicle acceleration of the own motor vehicle () in accordance with the information determined.

In a further development of the control method, the information about the curve curve may include information about lane markings, lane boundaries, a lane of the preceding vehicle, the actual speed of the own motor vehicle (12) and / or a yaw rate of the own motor vehicle (12).

According to a development of the control method, based on at least the information about the curve, an expected vehicle yaw rate of the own motor vehicle can be determined. The maximum vehicle acceleration can also be limited in accordance with at least the determined, expected Fahrzeuggierrate.

Furthermore, in the control method based on at least the information about the curve, an expected vehicle speed of the own motor vehicle can be determined. The maximum vehicle acceleration can thus be limited in accordance with at least the determined, expected vehicle speed.

In a further development, in the control method, the maximum vehicle acceleration can be limited to the vehicle traveling in the same lane in accordance with at least the predetermined time interval of one's own motor vehicle.

It will be apparent to those skilled in the art that the aspects and features described above may be arbitrarily combined in a control system and / or method of control. While some of the features described above have been described with respect to a control system, it should be understood that these features may be applicable to a control method. Likewise, the features described above with respect to a control method may apply to a control system accordingly.

list of figures

• 1 zeigt schematisch ein eigenes Kraftfahrzeug, das mittels eines Steuerungssystems Umfelddaten zu einem vorausfahrenden Kraftfahrzeug und Informationen zu einem in dem Bereich vor dem eigenen Kraftfahrzeug liegenden Kurvenverlauf eines Fahrstreifens ermittelt und nach Maßgabe der ermittelten Informationen die maximale Fahrzeugbeschleunigung des eigenen Kraftfahrzeugs begrenzt.

Other objects, features, advantages and applications will become apparent from the following description of non-limiting embodiments to be understood with reference to the accompanying drawings. All described and / or illustrated features alone or in any combination of the disclosed herein subject matter. The dimensions and proportions of the components shown in the figure are not to scale.

• 1 schematically shows a separate motor vehicle, which determines by means of a control system environment data to a motor vehicle ahead and information about a lying in the area in front of the own motor vehicle curve of a lane and limited according to the information determined the maximum vehicle acceleration of the own motor vehicle.

Detailed description of the drawings

1 schematically shows a separate motor vehicle ego, located on a middle lane 12 a roadway 14 located. Adjacent to the middle lane 12 is on the left to another, left lane 16 the roadway 14 , Further, located adjacent to the middle lane 12 on the right another, right lane 18 the roadway 14 , The lanes 12 . 16 . 18 the roadway 14 are each by dashed lane markings 20 . 22 separated from each other. The roadway 14 is to the left and right each by lane boundaries 24 . 26 limited.

The own motor vehicle ego has at least one of the own motor vehicle ego assigned and attached to this environment sensor, here in the form of a radar sensor. The environment sensor may be in the form of a camera, for example, but the use of other known environment sensors (lidar, ultrasound, or combinations of all these sensors) is also possible. The at least one environment sensor is set up to detect an area in front of one's own motor vehicle ego and to provide the environmental data reproduced in this area to an electronic control unit (ECU) of a control system installed in its own motor vehicle ego.

In the in 1 In the embodiment shown, the control system monitors by means of the at least one environment sensor a region lying in front of the own motor vehicle in the direction of travel 30 , Among other things, detects the environment sensor in this area a preceding vehicle old. The detected, preceding motor vehicle age represents here for the implemented in the control system ACC system here the reference vehicle. In the illustrated embodiment, the preceding motor vehicle old has a lower speed (eg 110 km / h) than one of the driver of their own motor vehicle ego for this set speed (eg 130 km / h). The target speed is ego adjustable by a driver of his own motor vehicle ego via a human-machine interface in his own motor vehicle and is made available to the control system of the control system.

The actual speed of one's own motor vehicle ego here is for example 100 km / h, so that the control of the control system of the own motor vehicle ego increases the own motor vehicle by increasing a vehicle acceleration to the set target speed. In the illustrated embodiment, a distance between the own motor vehicle ego and the preceding motor vehicle age is so great that it exceeds a predetermined distance, which corresponds to an adjustable by the driver also via a man-machine interface interval. Time-out regulation by the control of the control system therefore occurs in the one shown Embodiment not. The control of the control system of the own motor vehicle ego would start such a time interval control only when the own motor vehicle ego threatens to exceed the predetermined time interval to the preceding motor vehicle old or tries to exceed it due to the speed control.

In order to increase the actual speed (here 100 km / h) of the own motor vehicle ego to the target speed (130 km / h), the controller of the control system accelerates the own motor vehicle with a set target vehicle acceleration in the control system depending on the setting ,

However, the control system of the own vehicle ego provided here is further arranged and determines information about one in the field 30 before the own motor vehicle ego lying curve of the lane 12 to determine, in which the own motor vehicle ego is located.

For this purpose, the environment sensor detects in the front of the own motor vehicle ego area 30 the lane markings 20 . 22 as well as the lane boundaries 24 . 26 , On the detected marks 20 . 22 . 24 . 26 Based environment data are provided to the control of the control system and further processed by this, in order to obtain information on this in the field 30 before the own motor vehicle ego lying curve of the lane 12 to investigate.

Since the preceding motor vehicle old also in the area 30 located, the environment sensor further detects over a period of time the lane of the preceding motor vehicle age, which here by the dashed arrow 32 is shown. The lane of the preceding motor vehicle old reproducing environment data are also provided to the control of the control system and further processed by this, in order from this and from the environment data described above, information in the field 30 before the own motor vehicle ego lying curve of the lane 12 to investigate.

Furthermore, the control system determines by means of further sensors here over a period of time, which may correspond, for example, the above-mentioned time period, the actual speed and a yaw rate of the own motor vehicle ego. The yaw rate of your own motor vehicle ego is exemplified here by the arrow 34 and the actual speed by the arrow 36 shown. Data based thereon is also further processed by the controller of the control system to obtain information therefrom and from all environment data described above 30 before the own motor vehicle ego lying curve of the lane 12 to investigate.

In other words, the controller (ECU) of the control system uses the above environment data and data and links them together to inform on the lane curve based thereon 12 to investigate.

In accordance with this determined information about the curve of the lane 12 Further, the control of the control system further determines a vehicle acceleration of the own motor vehicle ego, which is still safe in the current driving situation or still felt safe by the driver, and limits the maximum vehicle acceleration that can be set by the control system to the previously determined vehicle acceleration.

The control of the control system accelerates the own vehicle ego within the context of the speed control, in order to increase its speed from the actual speed (here 100 km / h) to the set speed ( 130 km / h), the maximum vehicle acceleration set or adjustable by the control is limited due to the curve. The vehicle acceleration is therefore in the embodiment shown, due to the curve of the lane 12 in which the own motor vehicle is less than this would be at a corresponding speed control on a straight line.

In this case, provision may be made, in particular, for the control system to limit only the vehicle acceleration set or adjustable by the control system to a maximum limit value, that is to say the target vehicle acceleration within the scope of the control, but not the acceleration caused manually by the driver of his own motor vehicle.

Thus, the control system of the own motor vehicle shown here ego allows a predictive limitation of the maximum by the ACC system adjustable vehicle acceleration in accordance with the lane course. As a result, the control system increases the ride comfort and driving safety of one's own motor vehicle ego.

The variants of the control system described above, as well as their design and operating aspects serve merely to better understand the structure, the mode of operation and the properties; they do not restrict the revelation to the exemplary embodiments. The figure is diagrammatic, with essential properties and effects being shown, in part, considerably enlarged, in order to clarify the functions, operating principles, technical configurations and features. In this regard, any mode of operation, principle, technical embodiment and feature disclosed in the figure or text may be construed as including all claims and every feature in the text, other functions, principles, technical configurations and features set forth in US Pat are contained in this disclosure or result from it, are freely and arbitrarily combined, so that all conceivable combinations are assigned to the described procedure. In this case, combinations between all individual embodiments in the text, that is to say in every section of the description, in the claims and also combinations between different variants in the text, in the claims and in the figure of the disclosure are included. All disclosed features are also explicitly disclosed individually and in combination with all other features herein.

Claims (12)

Control system, which is set up and intended for use in an own motor vehicle (ego) located in a traffic lane (12) of a lane (14), based on at least one environmental data obtained from its own motor vehicle (ego) at least preceding vehicles (alter ), wherein the at least one environmental sensor is adapted to provide an electronic control unit of the control system with an area (30) in front of the own motor vehicle (ego) reproducing environment data, wherein the control system is at least configured and determined - To adjust by adjusting a vehicle acceleration of the own motor vehicle (ego) an actual speed of the own motor vehicle (ego) to an adjustable target speed, or - Set by adjusting the vehicle acceleration of the own motor vehicle (ego) a predetermined time interval of the own motor vehicle (ego) to a in the same lane (12) preceding motor vehicle (alter), if the preceding motor vehicle (old) moves at a speed that is lower is as the target speed, and wherein the control system is set up and determined to determine information on a lying in the area in front of the own motor vehicle (ego) curve of the lane (12) in which the own motor vehicle (ego) is located and to limit the maximum vehicle acceleration of the own motor vehicle (ego) in accordance with the determined information. Control system after Claim 1 wherein the information about the curve includes information about lane markings (20, 22) and / or lane boundaries (24, 26), which are preferably detectable by means of the at least one environment sensor. Control system after Claim 1 or 2 , wherein the information on the curve includes information about a lane (32) of the preceding motor vehicle (old), which are preferably detectable by means of the at least one environment sensor. Control system according to one of the preceding claims, wherein the information about the curve includes information about the actual speed (36) and a yaw rate (34) of the own motor vehicle (ego). Control system according to one of the preceding claims, which is set up and determined to determine based on at least the information about the curve an expected vehicle yaw rate of the own motor vehicle (ego) and limit the maximum vehicle acceleration in accordance with at least the determined, expected Fahrzeuggierrate. Control system according to one of the preceding claims, which is set up and determined to determine based on at least the information about the curve an expected vehicle speed of the own motor vehicle (ego) and limit the maximum vehicle acceleration in accordance with at least the determined, expected vehicle speed. Control system according to one of the preceding claims, which is adapted and determined to further limit the maximum vehicle acceleration in accordance with at least the predetermined time interval of the own motor vehicle (ego) to the motor vehicle (alter) ahead in the same lane (12). Control method for use in an own motor vehicle (ego) located in a lane (12) of a lane (14) in which at least preceding motor vehicles (old) are detected based on environment data obtained from at least one environment sensor assigned to the own motor vehicle (ego), wherein by means of the at least one environmental sensor of an electronic control of the control system, the environment data reproducing an area (30) in front of the own motor vehicle (ego) is provided, the control process comprising at least the steps: Adjusting an actual speed of the own motor vehicle (ego) to an adjustable target speed by setting a vehicle acceleration of the own motor vehicle (ego), or - setting a predetermined time interval of the own motor vehicle (ego) to a motor vehicle driving ahead in the same lane (12) (Alter) by adjusting the vehicle acceleration of the own motor vehicle (ego) when the preceding vehicle (alter) moves at a speed that is less than the target speed, and wherein the control method comprises the further steps of: - obtaining information about a curve of the lane (12) in which the own motor vehicle (ego) is located in the area (30) in front of the own motor vehicle (ego), and limiting the maximum vehicle acceleration of the own motor vehicle (ego) in accordance with the ascertained information , Control method according to Claim 8 in which the information about the curve information about lane markers (20, 22), lane boundaries (24, 26), a lane (32) of the preceding motor vehicle (alter), the actual speed (36) of the own motor vehicle (ego) and or a yaw rate (34) of the own motor vehicle (ego). Control method according to Claim 8 or 9 in which, based on at least the information about the curve, an expected vehicle yaw rate of the own motor vehicle (ego) is determined, and in which the maximum vehicle acceleration is limited in accordance with at least the determined, expected vehicle yaw rate. Control procedure according to one of Claims 8 to 10 in which, based on at least the information about the curve, an expected vehicle speed of the own motor vehicle (ego) is determined, and in which the maximum vehicle acceleration is limited in accordance with at least the determined, expected vehicle speed. Control procedure according to one of Claims 8 to 11 in which the maximum vehicle acceleration is further limited in accordance with at least the predetermined time interval of one's own motor vehicle (ego) to the motor vehicle (alter) traveling ahead in the same lane (12).

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