Method for controlling a vehicle

1. A method for controlling a subject vehicle ( 1 ) travelling along a road behind a vehicle transmitting wireless signals representative of a velocity and/or acceleration of the transmitting vehicle ( 2 ) or at least one parameter affecting the velocity and/or acceleration of the transmitting vehicle ( 2 ), the method comprising receiving said wireless signals from the transmitting vehicle ( 2 ), and controlling (S 6 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the received wireless signals, characterized by during said control (S 6 ) in dependence on the received wireless signals, monitoring (S 3 ) by means ( 111 ) other than means for wireless communication a distance (DSF) between the subject vehicle ( 1 ) and a further vehicle ( 3 ) travelling between the subject vehicle ( 1 ) and the transmitting vehicle ( 2 ), wherein the monitoring of the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ) comprises continuously or repeatedly determining the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ), and comparing (S 4 ) the determined distance (DSF) to a threshold distance value, and determining in dependence on the monitoring of the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ) whether or not to control (S 5 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the monitored distance (DSF), wherein, as long as the determined distance (DSF) is above the threshold distance value, the control (S 6 ) in dependence on the wireless signals received from the transmitting vehicle ( 2 ) is maintained.

2. The method according to claim 1 , characterized in that the means other than means for wireless communication comprises a radar sensor ( 111 ), a camera and/or a laser sensor of the subject vehicle ( 1 ).

3. The method according to claim 1 , characterized in that controlling (S 5 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the monitored distance (DSF) comprises overriding said control (S 6 ) in dependence on the received wireless signals.

4. The method according to claim 1 , characterized in that determining whether or not to control (S 5 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the monitored distance (DSF) comprises, if the determined distance (DSF) is above the threshold distance value, the determined distance (DSF) does not influence (S 6 ) the control of the velocity and/or acceleration of the subject vehicle ( 1 ), and, if the determined distance (DSF) is below the threshold distance value, the velocity and/or acceleration of the subject vehicle ( 1 ) is controlled (S 5 ) in dependence on the monitored distance (DSF).

5. The method according to claim 1 , characterized by continuously or repeatedly, during said control (S 5 ) in dependence on the monitored distance (DSF), determining by the means ( 111 ) other than means for wireless communication the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ), and comparing (S 4 ) the determined distance (DSF) to the threshold distance value.

6. The method according to claim 5 , characterized by controlling (S 6 ), if the determined distance (DSF) is above the threshold distance value, the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the received wireless signals.

7. The method according to claim 1 , characterized in that controlling (S 5 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the monitored distance (DSF) comprises controlling (S 5 ) the subject vehicle ( 1 ) so as to increase the distance between the subject vehicle and the further vehicle ( 3 ).

8. The method according to claim 1 , characterized by establishing (S 1 ), before monitoring the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ), a presence of the further vehicle ( 3 ) between the subject vehicle ( 1 ) and the transmitting vehicle ( 2 ).

9. The method according to claim 8 , characterized by controlling (S 2 ), before establishing (S 1 ) the presence of the further vehicle ( 3 ), the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the received wireless signals from the transmitting vehicle ( 2 ).

10. The method according to claim 8 , characterized by establishing, before establishing (S 1 ) the presence of the further vehicle ( 3 ), that there is no vehicle between the transmitting vehicle ( 2 ) and the subject vehicle ( 1 ).

11. The method according to claim 8 , characterized in that said control (S 2 ) of the subject vehicle ( 1 ) in dependence on the received wireless signals comprises, before establishing (S 1 ) the presence of the further vehicle ( 3 ), controlling the subject vehicle ( 1 ) so as to be at a first distance (DST 1 ) from the transmitting vehicle ( 2 ).

12. The method according to claim 11 , characterized in that the control (S 6 ) of the subject vehicle ( 1 ) in dependence on the received wireless signals comprises, after establishing (S 1 ) the presence of the further vehicle ( 3 ), controlling the subject vehicle ( 1 ) so as to be at a second distance (DST 2 ) from the transmitting vehicle ( 2 ) which is larger than the first distance (DST 1 ).

13. The method according to claim 8 , characterized by determining, upon establishing (S 1 ) the presence of the further vehicle ( 3 ), by the means ( 111 ) other than means for wireless communication, the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ).

14. The method according to claim 13 , characterized by controlling (S 5 ), if the determined distance (DSF) is below the threshold distance value, the velocity and/or acceleration of the subject vehicle ( 1 ) so as to increase the distance between the subject vehicle and the further vehicle ( 3 ).

15. The method according to claim 1 , characterized in that the monitoring of the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ) comprises continuously or repeatedly determining a velocity of the further vehicle ( 3 ) in relation to the subject vehicle ( 1 ).

16. The method according to claim 15 , characterized by comparing the determined further vehicle velocity to a threshold velocity value, wherein determining whether or not to control (S 5 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the monitored distance (DSF) comprises, if the determined velocity of the further vehicle ( 3 ) in relation to the subject vehicle ( 1 ) is below the threshold velocity value, the velocity and/or acceleration of the subject vehicle ( 1 ) is controlled (S 5 ) in dependence on the monitored distance (DSF).

17. The method according to claim 1 , characterized in that the monitoring of the distance (DSF) between the subject vehicle ( 1 ) and the further vehicle ( 3 ) comprises continuously or repeatedly determining an acceleration of the further vehicle ( 3 ) in relation to the subject vehicle ( 1 ).

18. The method according to claim 17 , characterized by comparing the determined further vehicle acceleration to a threshold acceleration value, wherein determining whether or not to control (S 5 ) the velocity and/or acceleration of the subject vehicle ( 1 ) in dependence on the monitored distance (DSF) comprises, if the determined acceleration of the further vehicle ( 3 ) in relation to the subject vehicle ( 1 ) is below the threshold acceleration value, the velocity and/or acceleration of the subject vehicle ( 1 ) is controlled (S 5 ) in dependence on the monitored distance (DSF).

19. A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 when said program product is run on a computer.

20. A control unit including a processor configured to perform the steps of the method according to claim 1 .

21. A vehicle comprising a control unit according to claim 20 .