Method and device for controlling a vehicle

The method for controlling a motor vehicle involves the following steps: measurement of the distance of the vehicle from an obstacle at different time points (S1); testing whether the speed of the vehicle is smaller than an incremental velocity and or a distance is less than a threshold value (S2-S6); and alteration of the speed of the vehicle according to the value of the distance and or generation of a warning if either of the test criteria is fulfilled. Independent claims are also included for a motor vehicle control device; and a corresponding computer program.