Method and apparatus for generating a control parameter for a gap assistance system of a vehicle

The method (1100) involves determining an object property (1120) of an object in an area in the driving direction ahead of a vehicle by using surroundings data from the surroundings detection attachment. The object property represents a movement state and an object position of the object with regard to the vehicle position and a roadway in the area of the driving direction ahead of the vehicle. A control parameter (1140) is generated as a function of the object property of the object. The object is selected as a target object when the object property fulfills the target object criterion. Independent claims are included for the following: (1) a device for generating a control parameter for a control system of a vehicle; and (2) a computer program product having program code for carrying out a method.