Method for controlling a vehicle when an obstacle is detected in surroundings of the vehicle; control device for a vehicle with an autonomous driving function; computer readable medium and motor vehicle

The invention is concerned with a method for controlling a vehicle (10) when an obstacle (18) is detected in surroundings (39) of the vehicle (10), wherein an autonomous driving function of the vehicle (10) plans a trajectory (15). An observer function (23) determines and/or adapts a size of a dynamic protection zone (26) that extends in a current driving direction (13), wherein the size depends on a current driving speed of the vehicle (10), wherein the observer function determines whether the obstacle (18) is detected within the dynamic protection zone (26), and in the case the obstacle (18) is detected, a limiter function (29) is signaled by the observer function, wherein the limiter function (29) is provided in the signal path (30) and the limiter function (29) reduces speed values of the planned trajectory (15) without influencing the line (25) of the movement of the vehicle (10), thereby causing the observer function (23) to shrink the dynamic protection zone (26) until the obstacle (18) lies outside the shrunken dynamic protection zone (26).