Method for operating a longitudinal driver assistance system of a motor vehicle and motor vehicle

A method for operating a longitudinal driver assistance system of a motor vehicle, wherein the driver assistance system controls a speed of the motor vehicle in an exclusive follow mode so that a distance to a preceding vehicle representing a control object remains constant, and the driver assistance system controls the speed of the motor vehicle in a free-driving mode at a desired speed, the method comprising:

• determining a pulling-out probability of the preceding vehicle as a function of sensor data of at least one environment sensor, and
• modifying control of the speed in relation to the preceding vehicle or in free-driving mode immediately upon termination of the follow mode depending on the pulling-out probability by
• at least one of reducing a control distance to the preceding vehicle and adding a positive acceleration value to an acceleration request determined by the driver assistance system in follow mode, when the pulling-out probability exceeds a preparation threshold value and when a speed of the preceding vehicle is lower than the desired speed, or by
• terminating the follow mode depending on the pulling-out probability by at least one of changing more quickly from braking to driving and requesting a greater acceleration than with another object deplausibilization, when the pulling-out probability exceeds a situation threshold value upon termination of the follow mode.

A motor vehicle comprising:

• at least one environment sensor, and
• a longitudinal driver assistance system with a controller configured
• to control a speed of the motor vehicle in an exclusive follow mode so that a distance to a preceding vehicle representing a control object remains constant, and to control the speed of the motor vehicle in a free-driving mode at a desired speed,
• to determine a pulling-out probability of the preceding vehicle as a function of sensor data from the at least one environment sensor, and
• to modify or terminate control of the speed in relation to the preceding vehicle or in free-driving mode immediately upon termination of the follow mode depending on the pulling-out probability.