The invention relates to a method for determining a risk of collision between a moving object (20) and a foreign object (10) in the vicinity of the object (20), the object (20) being at a distance (d) from the foreign object (10) and the object (20) moves at a current object speed (vO) relative to the foreign object (10), an actual distance threshold value being determined as a function of at least one base distance threshold value adjusted with the aid of at least one state parameter whether there is a risk of collision is generated by comparing the provided distance value (d) with the actual distance threshold value and status information is generated and output is provided as to whether or not there is a risk of collision. The invention also relates to a safety system (30) for determining a risk of collision, a collision avoidance system, a corresponding computer program, a corresponding computer-readable medium and a movable object (20) with a previously described safety system or collision avoidance system.
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