Method, control device and motor vehicle for controlling an at least partially autonomous ego motor vehicle

A method for controlling an at least partially autonomous ego motor vehicle, wherein the ego motor vehicle has a control device with a computing device, and a sensor device or communication device, the method comprises at least the following steps of:

• a. detecting, by means of the sensor device or the communication device, a relevant road user;
• b. determining, by the computing device, a probability value in respect of the relevant road user leaving an anticipated travel route of the ego motor vehicle;
• c. comparing, by the computing device, the probability value with a defined limit value;
• if the probability value exceeds the limit value, the method furthermore comprises the following steps for controlling a speed of the ego motor vehicle:
• d. determining, by the computing device, a current shortest distance between the ego motor vehicle and the relevant road user;
• e. determining, by the computing device, a safety measure which contains at least one collision probability;
• f. determining, by the computing device, an ideal speed of the ego motor vehicle at which a predefined safety measure is attainable;
• g. determining, by the computing device, a speed-based adjustment value for acceleration and/or deceleration of the ego motor vehicle on a basis of the ideal speed determined in the step f;
• h. determining, by the computing device, a distance-based adjustment value for acceleration and/or deceleration of the ego motor vehicle on a basis of a hazard factor kept available by a storage unit;
• i. selecting, by the computing device, between the speed-based adjustment value and the distance-based adjustment value;
• and
• j. controlling, by the control device, deceleration or acceleration of the ego motor vehicle on a basis of the speed-based adjustment value or the distance-based adjustment value selected in the step i.