WO2023205830A1

WO2023205830A1 - Method for operating an ego motor vehicle, and ego motor vehicle

Info

Publication number: WO2023205830A1
Application number: PCT/AT2023/060131
Authority: WO
Inventors: Andreas Haydl
Original assignee: Avl List Gmbh
Priority date: 2022-04-25
Filing date: 2023-04-19
Publication date: 2023-11-02
Also published as: AT525660A4; AT525660B1

Abstract

In an ego motor vehicle (E), in at least one operating range, the distance from a first motor vehicle (A) ahead is regulated to a minimum safety distance (amin) by a regulation unit (10) having a distance and/or speed adjustment functionality. When it is recognized that there is an intention to perform a maneuver to overtake the first motor vehicle (A) ahead, on the one hand, and that the ego motor vehicle (E) is being overtaken by the second motor vehicle (B), on the other hand, the minimum safety distance (amin) is temporarily reduced to a defined reduced minimum safety distance (amin, red) or the distance and/or speed adjustment functionality of the regulation unit (10) is suspended at least for the duration of the intended overtaking maneuver in view of the second motor vehicle (B), and the maneuver to overtake the first motor vehicle (A) is initiated by the ego motor vehicle (E) as soon as the second motor vehicle (B) has passed the ego motor vehicle (E).

Description

METHOD FOR OPERATING AN EGO MOTOR VEHICLE AND EGO MOTOR VEHICLE

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 in front is regulated to a - preferably speed-dependent - minimum safety distance by at least one control unit having a distance and / or speed adjustment functionality. The invention further relates to an ego vehicle for carrying out the method.

In known cruise control systems in motor vehicles in which the distance to the vehicle in front is recorded, 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 in front, your own speed is reduced until the selected safety distance is regulated. However, this adjustment to a selected safety distance has the disadvantage, for example when carrying out an active overtaking process by a slower motor vehicle in front, immediately after a passive overtaking process by a faster motor vehicle, that at the beginning of the active overtaking process and changing your own motor vehicle into the overtaking lane, the safety distance is also with regard to the faster motor vehicle that is currently overtaking and driving ahead in the fast lane is adjusted.

For example, when driving on a motorway, the cruise control system of your own motor vehicle - referred to here as an ego motor vehicle - is set to 130 km/h and the safety distance of the distance detection is set to two seconds. A first motor vehicle is driving ahead at 100 km/h in the right lane of the motorway. Due to the traffic situation, the faster ego vehicle cannot overtake the first vehicle. The cruise control system with apron detection detects the first vehicle in front and slowly reduces the distance to around 55 meters by reducing the speed, which corresponds to a distance of around two seconds at 100 km/h. If the traffic situation now allows the ego motor vehicle to overtake, if a faster second motor vehicle has just passed the ego motor vehicle in the fast lane and the ego motor vehicle then switches to the left into the fast lane in order to overtake the first motor vehicle, the cruise control system tries to adjust 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 try to control the speed of the ego vehicle to further reduce in order to adjust the safety distance again, even though the ego vehicle is already pulling out into the fast lane to overtake. This can sometimes lead to very strong and dangerous braking maneuvers in the fast lane. In addition, the speed of the ego vehicle is perceived as very inhomogeneous and unpleasant.

The description of the invention assumes right-hand traffic in which other vehicles are overtaken on the left. When driving on the left or when overtaking on the right is permitted on the right of two or more lanes, the teaching according to the invention applies accordingly.

From DE 10 2013 214 308 A1 there is a distance controller for motor vehicles with a locating device for measuring distances to vehicles in front, an actuator system for intervening in the longitudinal guidance of one's own motor vehicle and an electronic control device for controlling the actuator system and regulating the distance A target distance is known to a motor vehicle driving ahead in its own lane. The control device has an adjacent lane mode in which the target distance is modified depending on a measured distance to 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 during overtaking maneuvers.

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:

• monitor whether a first motor vehicle is driving in front of the ego vehicle in the same lane, which requires the ego vehicle to adjust its speed or distance;

• monitor whether the ego vehicle intends to overtake the vehicle in front;

• monitor whether the ego motor vehicle is currently being overtaken by a second motor vehicle, the speed of the second motor vehicle being recorded;

• if it is recognized that, on the one hand, the ego motor vehicle intends to overtake the first motor vehicle in front and, on the other hand, the ego motor vehicle is being overtaken by the second motor vehicle: temporary lowering of the minimum safety distance to a defined reduced minimum safety distance or temporary suspension 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;

• Initiation of 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 for the overtaking maneuver, the minimum safety distance assigned to normal driving - i.e. without overtaking maneuvers - is reduced to a reduced minimum safety distance. This avoids delaying control interventions during overtaking and achieves a homogeneous speed progression. In particular, the reduced minimum safety distance is always greater than the legally required minimum distance.

Preferably, initiating the overtaking process involves 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 temporarily suspending the distance and/or speed adjustment functionality with regard to the second motor vehicle, it can be avoided that after initiation During the overtaking process, the ego vehicle is braked by the control unit, even if the distance to the second vehicle in front in the overtaking lane does not yet correspond to the minimum safety distance corresponding to the speed. A reduction in the minimum safety distance to the second motor vehicle is particularly acceptable without any loss of safety if the speed of the second motor vehicle driving ahead of the ego motor vehicle in the fast lane is greater than the speed of the ego motor vehicle.

The reduced minimum safety distance is preferably defined depending on 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 an overtaking maneuver, the smaller the reduced minimum distance can be, since the minimum safety distance assigned to normal operation is reached relatively quickly when the speed difference is large.

Before the overtaking process is initiated, it is preferably checked whether at least one defined boundary condition for initiating the overtaking process is met. In order to avoid loss of safety, 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 a defined value faster in the direction of travel than the ego motor vehicle. For safety reasons, it is also advantageous if it is set as a boundary condition that when the overtaking process is initiated - i.e. when the ego motor vehicle changes to the overtaking 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 corner of the ego motor vehicle and the right rear corner of the second motor vehicle.

In an embodiment according to the invention it is provided that the temporary lowering of the minimum safety distance or temporary suspension of the distance and/or speed adjustment functionality is canceled again if, after the overtaking process has been initiated, the speed of the second motor vehicle is equal to or lower than the speed of the ego motor vehicle. So, for example, if 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 if the second motor vehicle becomes slower than the ego motor vehicle, the temporary lowering or suspension of the minimum safety distance is canceled . This means that the control unit is again regulated to the minimum safety distance corresponding to the current driving speed in order to avoid colliding with the second motor vehicle.

Furthermore, it can be provided that the temporary lowering of the minimum safety distance or temporary suspension of the distance and/or speed adjustment functionality is canceled again as soon as the ego motor vehicle has completed overtaking the first motor vehicle. Alternatively, the temporary lowering of the minimum safety distance or the temporary suspension of the distance and/or speed adjustment functionality can be canceled 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 is particularly advantageous if the speed of the ego motor vehicle is gradually adjusted to the speed of the second motor vehicle during or after the overtaking process is initiated. This allows adjustment the safety distance must be made homogeneous to the minimum safety distance corresponding to the current speed. Abrupt acceleration or braking maneuvers can be avoided.

The reduced minimum safety distance becomes particularly advantageous again depending on the speed difference between the speed of the second motor vehicle and the speed of the ego vehicle and/or depending on the steering angle of the ego vehicle and/or depending on the lateral acceleration of the ego vehicle adjusted the minimum safety distance.

A motor vehicle with at least one control unit with a distance and/or speed adjustment functionality is suitable for carrying out the method. This can be a function of an assistance system or an autonomous system.

The control unit is responsible for solving the task

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

• a second monitoring device on or is connected to a second monitoring device, which is designed to detect whether the ego motor vehicle is intended to overtake the first motor vehicle in front,

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

• The control unit is designed to - at least for the duration of the intended overtaking of the first motor vehicle by the ego motor vehicle - temporarily reduce the minimum safety distance to a defined reduced minimum safety distance or to temporarily reduce the distance and / or speed adjustment functionality with regard to the overtaking second to stop the motor vehicle if it is detected that, on the one hand, the ego motor vehicle is intended to overtake the first motor vehicle in front and, on the other hand, the ego motor vehicle is overtaken by the second motor vehicle, and where

• The control unit is further designed to initiate an overtaking process 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 a cancellation device which is designed to temporarily lower the minimum safety distance or temporarily suspend the distance and/or speed adjustment functionality in a time-dependent and/or distance-dependent and/or speed-dependent manner - in particular depending on 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.

The method according to the invention can prevent the occurrence of sometimes very strong and dangerous braking maneuvers when overtaking in the fast lane. In addition, the speed curve when overtaking is perceived as homogeneous and pleasant.

The invention is explained in more detail below using the exemplary embodiment shown in the figures. It shows schematically:

1 shows a flowchart of the method according to the invention;

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 SO to S6, as illustrated in the flowchart shown in FIG. 1:

In step SO, it is monitored whether there is a first motor vehicle A in front of the ego vehicle E in the same right-hand lane 2, which requires a speed or distance adjustment of the ego vehicle E. If this is the case, it is examined in step S1 whether the ego motor vehicle E intends to overtake the first motor vehicle A in front. Included 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 an action for overtaking, for example by activating a direction indicator, turning the steering wheel, etc. An impending overtaking process can also be derived if the speed difference Avi 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 reduces, and falls below a threshold value as and / or the temporal change in the distance da / dt exceeds a defined threshold value. Conversely, the intention to overtake can be ruled out with a high degree of probability if the distance a between the first motor vehicle A driving in front 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 currently being overtaken by at least one second motor vehicle B driving in the left lane 3 - the overtaking lane. If this is the case, the speed VB of the at least one second motor vehicle B is detected. This step only needs to be carried out if an intention to overtake the first motor vehicle A was recognized by the ego motor vehicle E in step S1. Alternatively, step S2 can also be carried out continuously, i.e. without any 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 overtaken by at least a second motor vehicle B in the overtaking lane 3, step S3 is carried out. Step S3 provides that the minimum safety distance a _m in is temporarily reduced to a - speed-dependent or fixed - defined reduced minimum safety distance a _m in, red at least for the duration of the intended overtaking process with regard to the second motor vehicle B, which is currently overtaking the ego motor vehicle E has, is lowered. The reduced minimum safety distance a _m in,red is smaller than the speed-dependent minimum safety distance a _m in valid in normal driving - i.e. without overtaking maneuvers. In an exemplary embodiment of the invention, the reduced minimum safety distance a _m in,red is approximately half the speed-dependent minimum safety distance a _m in normal driving of the ego motor vehicle E.

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

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 Avz between the second motor vehicle B and the ego motor vehicle E correspond to at least a defined minimum speed difference AV ₂ ,min?

• 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 a _m in,red? In the event of a temporary suspension of the distance and/or speed adjustment functionality, 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, it is waited until the second motor vehicle B has overtaken the ego motor vehicle E.

In step S6, the reduction or cancellation of the minimum safety distance amin is canceled. This normally happens after the ego vehicle E has overtaken the first motor vehicle A, i.e. after the first vehicle A has been overtaken by the ego vehicle E. However, the reduction or cancellation of the minimum safety distance a _m in 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 becomes slower than the ego -Motor vehicle E.

The reduced minimum safety distance a _m in,red is returned to the minimum safety distance a depending on the speed difference AV2 between the second motor vehicle B and the ego vehicle E and depending on the steering angle of the ego vehicle E and the lateral acceleration of the ego vehicle E _m in adjusted. For this purpose, the value of the increase in the reduced minimum safety distance a _m in,red and, as a result, the current minimum safety distance in particular the speed difference with a value based on the steering angle and the lateral acceleration of the ego vehicle E multiplies. Further preferably, for the value of the increase in the reduced minimum safety distance a _m in,red and subsequently the current minimum safety distance, this product is multiplied by a value based on the current speed VB of the ego motor vehicle E and the minimum safety distance 3min.

Fig. 2 shows schematically 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, which makes it possible to regulate the speed of the ego vehicle E in such a way that a defined speed-dependent minimum safety distance to a first vehicle A in front is maintained. In the present context, the term apron detection means a 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 apron detection can be camera-supported or sensor-supported, for example with radar or lidar or ultrasound

For this purpose, 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 of the at least one 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 operation of the ego motor vehicle E is intended. This can be derived, for example, by actuating a speed change display, a characteristic steering movement or - possibly using a self-learning system - from a typical behavior of the driver of the ego motor vehicle E.

The control unit 10 further has a third monitoring device 13 or is connected to a third monitoring device 13, which is designed to detect and monitor at least a second motor vehicle B in the adjacent lane 3, in particular in a fast lane, the speed of the at least one second motor vehicle B can be detected. The control unit 10 is designed to - at least for the duration of the intended overtaking process - temporarily reduce the minimum safety distance to a defined reduced minimum safety distance or to temporarily suspend the distance and / or speed adjustment functionality, at least with regard to the overtaking second motor vehicle B, if detected is that, on the one hand, an overtaking operation of the first motor vehicle A in front is intended and, on the other hand, ego motor vehicle E is overtaken by at least one second motor vehicle B.

The control unit 10 is further 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 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 in a time-dependent and/or distance-dependent and/or speed-dependent manner - in particular depending on a speed difference and/or on a Speed difference gradients between the second motor vehicle B and the ego motor vehicle E - to be canceled again.

3 to 5 show various 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 currently being overtaken by a second motor vehicle B.

Fig. 4 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 vehicle B in front is amin, red -

Fig. 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 a min, 2.

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 the control unit 10 is set 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, for example, at a speed of 100 km/h.

As can be seen in Fig. 3, on the right lane 2 of an at least two-lane road 1, for example a highway, the ego motor vehicle A is traveling at a speed VE behind a first motor vehicle A, which is traveling at a lower speed VA, and is currently being driven by overtaken by a second motor vehicle B at the higher speed VB in the left lane 3.

The cruise control system with advance detection of the control unit 10 of the ego motor vehicle E detects the first motor vehicle A driving in front at a speed VA of, for example, 100 km/h and slowly regulates the distance between the ego motor vehicle E and the first motor vehicle A by reducing the speed to a minimum safety distance a of 55 meters, which corresponds to a time interval of around 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 has to wait until it is overtaken by the faster second motor vehicle B, which is traveling at speed VB.

If the traffic situation allows 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 move from the right lane 2 to the left Change lane 3 to overtake the first 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 to at least the speed-dependent minimum safety distance a _m in, a conventional cruise control system, as is known from the prior art, would try to maintain the safety distance between the second motor vehicle B and the ego motor vehicle E to the minimum safety distance amin corresponding to the current speed of the ego motor vehicle E of, for example, 55 meters, i.e. try to further reduce the speed of the ego motor vehicle E, which sometimes leads to very strong and dangerous braking - maneuvering through following traffic would result in the left lane.

According to the invention, the minimum safety distance is reduced to a defined reduced minimum safety distance a _m in,red or the distance and/or speed adjustment functionality of the control unit is temporarily - particularly with regard to the second motor vehicle B - at least for the duration of the intended overtaking of the first motor vehicle A as soon as the second motor vehicle B passes the ego motor vehicle E. Thus - 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 establish a minimum safety distance a _m in between the second motor vehicle B and the ego motor vehicle, which corresponds to the speed.

After the ego motor vehicle E changes lane from the right lane 2 to the left lane 3, there is no reduction in the speed of the ego motor vehicle E to set a minimum safety distance a _m in corresponding to normal driving. Rather, the ego motor vehicle E maintains the initial speed Changing lanes until the minimum safety distance a _m in is automatically set due to the higher speed VB of the second motor vehicle B.

Since the second motor vehicle B moves at a higher speed VB than the ego motor vehicle E, at least at the beginning of the overtaking process initiated by the ego motor vehicle E, the distance a between the second motor vehicle B and the ego motor vehicle E will increase and quickly reach the distance a new current speed VE of the ego motor vehicle E of, for example, 130 km/h, reach the corresponding minimum safety distance a _m in,2 (see Fig. 5). In order to enable a high level of driving comfort with the most homogeneous movement possible without abrupt accelerations or decelerations, the speed VE of the ego motor vehicle E can be slowly brought up to the speed VB of the second motor vehicle B.

Claims

PATENT CLAIMS Method for operating an ego motor vehicle (E), in which in at least one operating range the distance to a first motor vehicle (A) in front is set to a - preferably speed-dependent - by at least one control unit (10) having a distance and / or speed adjustment functionality - Minimum safety distance (a _m in) 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 vehicle (E) in the same lane (2), which requires an adjustment of the speed or distance of the ego vehicle (E);

• monitor whether the first vehicle (A) in front is intended to be overtaken by the ego vehicle (E);

• monitor whether the ego motor vehicle (E) is currently being overtaken by a second motor vehicle (B), the speed (VB) of the second motor vehicle (B) being recorded;

• if it is recognized that, on the one hand, the first motor vehicle (A) in front is intended to be overtaken by the ego motor vehicle (E) 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 (a _m in) to a - preferably speed-dependent - defined reduced minimum safety distance ( _am in, red) or temporary suspension of 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 overtaking the first motor vehicle (A) by the ego motor vehicle (E);

• Initiating 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). Method according to claim 1, characterized in that before the overtaking process is initiated, it is checked whether at least one defined boundary condition for initiating the overtaking process is met. Method according to claim 1 or 2, characterized in that the initiation of the overtaking process involves changing the motor vehicle lane (2) of the ego motor vehicle (E) to an overtaking lane (3). Method according to one of claims 1 to 3, characterized in that the temporary lowering of the minimum safety distance ( _am in) or temporary suspension of the distance and/or speed adjustment functionality is canceled again as soon as the overtaking process of the first motor vehicle (A) is overtaken by the ego Motor vehicle (E) has ended. Method according to one of claims 1 to 4, characterized in that the temporary lowering of the minimum safety distance ( _am in) 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, preferably the defined period of time or the defined route is determined depending on the speed. Method according to one of claims 1 to 5, characterized in that the temporary lowering of the minimum safety distance ( _am in) or temporary suspension of the distance and/or speed adjustment functionality is canceled again if the speed (VB) of the second motor vehicle increases after the overtaking process has been initiated (B) equal to or less than the speed (VE) of the ego motor vehicle (E). Method according to one of claims 1 to 6, characterized in that the speed (VE) of the ego motor vehicle (E) is adjusted to the speed (VB) of the second motor vehicle (B) during or after initiating the overtaking process. Method according to 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) corresponds to at least a defined minimum speed (Av2,min). Method according to one of claims 2 to 8, characterized in that it is set as a boundary condition that when the overtaking process 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. Method according to one of claims 1 to 9, characterized in that the reduced minimum safety distance ( _am in, red) is defined as a function of the speed difference (AV2) between the second motor vehicle (B) and the ego motor vehicle (E). Method according to one of claims 1 to 10, characterized in that the reduced minimum safety distance ( _am in, red) depends on the speed difference (AV2) between the second motor vehicle (B) and the ego vehicle (E) and / or in Depending on a steering angle of the ego vehicle (E) and / or depending on the lateral acceleration of the ego vehicle (E) is adjusted again to the minimum safety distance ( _am in). Ego 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 11, 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 ego motor vehicle (E) is intended to overtake the first motor vehicle (A) in front,

• has a third monitoring device (13) or is connected to a third monitoring device (13), which is designed to detect and monitor a second motor vehicle (B) in the adjacent lane, in particular in a fast lane (3), whereby the speed (v _B ) of the second motor vehicle (B) can be detected, where

• the control unit (10) is designed to - at least for the duration of the intended overtaking of the first motor vehicle (A) by the ego motor vehicle (E) - temporarily reduce the minimum safety distance ( _am in) to a defined reduced minimum safety distance ( _am in, red) or to 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 ego motor vehicle (E) intends to overtake the first motor vehicle (A) in front 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). Ego motor vehicle (E) according to claim 12, characterized in that the control unit (10) has a cancellation device (15) which is designed to temporarily lower the minimum safety distance ( _am in) or to temporarily suspend the distance and/or or speed adjustment functionality time-dependent and / or distance-dependent and / or speed-dependent - in particular depending on a speed difference (AV2) and / or depending on a speed difference gradient between the second motor vehicle (B) and the ego motor vehicle (E) - to be canceled again.