Method for operating a driver assistance system, computer program product, driver assistance system, and vehicle

A method for operating a driver assistance system for a vehicle, the method comprising:

• a) receiving a drive state sensor signal, which indicates the drive state of the vehicle, at a number of different points in time,
• b) receiving a number of sensor signals, which indicate the environment of the vehicle, at a number of different points in time;
• c) detecting a number of objects in the environment of the vehicle on the basis of a first number of sensor signals, which have been received at a first point in time;
• d) ascertaining a position and a movement vector for a detected object on the basis of the first number of sensor signals and a second number of sensor signals, which have been received at a second point in time following the first point in time, using a plurality of different ascertainment methods, wherein different ascertainment methods of the plurality have a different degree of computing complexity;
• and
• e) outputting a warning signal if a potential collision of the vehicle with the detected object is ascertained on the basis of the drive state sensor signal received at a specified point in time and the position and the movement vector ascertained for the detected object,
• wherein the number of different ascertainment methods comprise at least one first ascertainment method, in which for each detected object of the number a Kalman filter is assigned and initialized, which is used to ascertain the position and the movement vector of the respective object, and at least one second ascertainment method, in which a feature recognition is carried out on the basis of the number of sensor signals received at each point in time and a digital environment map is determined using recognized features, and
• wherein the output of the warning signal, if a potential collision is ascertained on the basis of the position and the movement vector ascertained for the respective detected object using the first ascertainment method, takes place only when the ascertained movement vector of the object is non-zero.