Patent ID: 8219299

Claim:
A method of controlling the speed of a subject vehicle in a complex traffic situation, wherein the subject vehicle is equipped with a sensor system for recording surroundings, wherein for said controlling, at least one object which is at least partially hidden and/or at least one object on an adjacent traffic lane is observed, wherein an intention to change lanes of the subject vehicle is detected, wherein a camera sensor is used to monitor an activity of the object, and an intention of the object to change lanes is inferred from the monitored activity, wherein a lower threshold value for a nominal acceleration of the speed of the subject vehicle is assigned to the object, wherein the threshold value depends on: whether the object is hidden, and whether the object is on the subject vehicle's own traffic lane or on the adjacent traffic lane, and whether there is a detectable intention of the subject vehicle or of the object to change lanes, and wherein the speed of the subject vehicle is controlled according to the lower threshold value of the nominal acceleration.