The present invention relates to a method for determining a triggering criterion k_B for outputting braking signals S4 and S5 in a vehicle 1 and comprises at least one object 8,18 in the vicinity of the vehicle 1, (St1), it is determined whether the vehicle 1 is on a collision course with the objects 8, 18 (St2), and when a collision course with the sensed object 8, 18 is determined, (St3) confirming the avoidance criterion K_avoid (Step S3), confirming the braking criterion K_brake (St8) if at least the avoidance criterion is satisfied, At least. Here, the objects 8 and 18 are classified as at least a first or second class as a function of characteristics (St3), a first evasion trajectory 10 is determined in the case of the first class classification, The avoidance maneuvering of the vehicle 1 is determined as the classification function of the objects 8 and 18 (St4, St5, St6, and St7) in the manner that the second evasive locus 11 is determined different from the first evasive locus The avoidance criterion K_B for the output of the braking signals S2 and S4 is met when the avoidance criterion K-avoid, the avoidance criterion K-avoid and the brake reference K_brake are met.
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