Method and system for assisting a driver of a vehicle in maintaining a lane

A system for assisting a driver of a vehicle in maintaining a lane, comprising:

• a first detection unit configured to detect driving state measurement signals of a vehicle;
• a first ascertainment unit configured to ascertain a driving trajectory of the vehicle based on the detected driving state measurement signals;
• a second detection unit configured to detect surroundings information signals of the vehicle;
• a second ascertainment unit configured to ascertain a lane trajectory of the lane, based on the surroundings information signals;
• a third ascertainment unit configured to ascertain points of intersection of the driving trajectory with the lane trajectory;
• a determination unit configured to determine, based on at least the number of ascertained points of intersection:
• (a) whether a lane departure situation is present, and (b) whether a lane return situation is also present;
• an emission unit configured to emit a signal to effectuate an assistance of the driver in maintaining the lane based on the determination.