METHOD FOR PREVENTING THE COLLISION OF A VEHICLE WITH AN OBJECT, TAKING ACCOUNT OF A SPEED CHANGE OF THE VEHICLE, DRIVER ASSISTANCE SYSTEM AND MOTOR VEHICLE

The invention relates to a method for avoiding a collision of a vehicle (1) with an object (8) in a surrounding area (5) of the vehicle (1), in which a performance of a collision avoidance action is decided depending on whether a collision criterion is fulfilled, wherein a change of a driving gear of the vehicle (1) is performed and the gear shift is evaluated as a collision criterion and it is checked whether the direction of motion (P) of the vehicle (1) associated with the then selected driving gear is in the direction of an object (8) detected in the surrounding area (5) of the vehicle (1), wherein this check result is taken into account for a decision whether the collision avoidance action is automatically performed. The invention also relates to a driver assistance system (4) and a motor vehicle (1).