Method for determining a triggering criterion (k_B) for outputting brake signals (S4, S5) in a vehicle, comprising at least the following steps: sensing at least one object (8, 18) in the surroundings of the vehicle, determining whether the vehicle is on a collision course with the object (8, 18), when a collision course with the sensed object (8, 18) is determined, checking an avoidance criterion (K_avoid), which is satisfied if an avoidance manoeuvre cannot be determined or is not possible for the vehicle, at least when the avoidance criterion is satisfied, checking a braking criterion (K_brake), wherein the object (8, 18) is classified into at least a first or a second class as a function of its properties, and the avoidance manoeuvre of the vehicle is determined as a function of the classification of the object (8, 18) in such a way that, in the case of classification in a first class, a first avoidance trajectory is determined, and, in the case of classification in a second class, a second avoidance trajectory, which differs from the first avoidance trajectory, is determined (St4, St5, St6, St7), wherein the triggering criterion (K_B) for outputting brake signals (S2, S4) is satisfied if the avoidance criterion (K_avoid) and the braking criterion (K_brake) are satisfied, characterized in that the object (8, 18) is classified in the following classes: - stationary object which has not shown a velocity in the detection time period, - travelling or still object, to which a velocity above the measuring limiting value (v_m) has been assigned once at least temporarily in the detection time period (tz-t0), wherein - in the case of classification of the sensed object as a travelling or still object, an avoidance trajectory is determined, in the case of which a final orientation of the vehicle corresponds to the current orientation of the vehicle within a tolerance range, and/or - in the case of classification of the sensed object as a stationary object, an avoidance trajectory is determined with a bend radius which is constant within a tolerance range at least in a final region. sensing at least one object (8, 18) in the surroundings of the vehicle, determining whether the vehicle is on a collision course with the object (8, 18), when a collision course with the sensed object (8, 18) is determined, checking an avoidance criterion (K_avoid), which is satisfied if an avoidance manoeuvre cannot be determined or is not possible for the vehicle, at least when the avoidance criterion is satisfied, checking a braking criterion (K_brake), wherein the object (8, 18) is classified into at least a first or a second class as a function of its properties, and the avoidance manoeuvre of the vehicle is determined as a function of the classification of the object (8, 18) in such a way that, in the case of classification in a first class, a first avoidance trajectory is determined, and, in the case of classification in a second class, a second avoidance trajectory, which differs from the first avoidance trajectory, is determined (St4, St5, St6, St7), wherein the triggering criterion (K_B) for outputting brake signals (S2, S4) is satisfied if the avoidance criterion (K_avoid) and the braking criterion (K_brake) are satisfied, characterized in that the object (8, 18) is classified in the following classes: - stationary object which has not shown a velocity in the detection time period, - travelling or still object, to which a velocity above the measuring limiting value (v_m) has been assigned once at least temporarily in the detection time period (tz-t0), wherein - in the case of classification of the sensed object as a travelling or still object, an avoidance trajectory is determined, in the case of which a final orientation of the vehicle corresponds to the current orientation of the vehicle within a tolerance range, and/or - in the case of classification of the sensed object as a stationary object, an avoidance trajectory is determined with a bend radius which is constant within a tolerance range at least in a final region. - stationary object which has not shown a velocity in the detection time period, - travelling or still object, to which a velocity above the measuring limiting value (v_m) has been assigned once at least temporarily in the detection time period (tz-t0), wherein - in the case of classification of the sensed object as a travelling or still object, an avoidance trajectory is determined, in the case of which a final orientation of the vehicle corresponds to the current orientation of the vehicle within a tolerance range, and/or - in the case of classification of the sensed object as a stationary object, an avoidance trajectory is determined with a bend radius which is constant within a tolerance range at least in a final region.