It was a dramatic closing period for the hosts, as Freiburg completed their 4-3 comeback victory with two converted penalties from Petersen, who wrapped up his hat-trick from the spot.
With the result, Cologne remain last place in the standings with 12 points to safety while Freiburg stay on the 16th position, which is a relegation play-off spot.
Elsewhere, newly promoted Hannover ended their four-game winless run after moving 2-0 past Hoffenheim on second-half goals from Niclas Fuellkrug and Martin Harnik.
And Salomon Kalou's late equalizer secured Hertha Berlin a point at Augsburg, denying the Fuggerstaedter a place in the top four.
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