METHOD FOR DETERMINING A TRIGGERING CRITERION FOR BREAKING AND AN EMERGENCY BRAKING SYSTEM FOR A VEHICLE

To determine a triggering criterion for outputting brake signals in a vehicle, at least one object in the vehicle surroundings is sensed, and a determination is made as to whether the vehicle is on a collision course with the object. When a collision course is determined, an avoidance criterion, which is satisfied if an avoidance maneuver is not available, is checked. When the avoidance criterion is met, a braking criterion is checked. The object is classified into at least a first or a second class as a function of its properties, and the avoidance maneuver is determined as a function of such classification such that, in the case of a first class, a first avoidance trajectory is determined, and, in the case of a second class, a second trajectory, different from the first, is determined. The triggering criterion for brake signal output is satisfied when the avoidance and braking criteria are satisfied.