Driver assistance system and method for automatic maneuvering with repetition of a manually driven route taking into account a deviating desired target position and/or desired target orientation

A driver assistance system for automatic maneuvering with at least automated lateral guidance for a motor vehicle, comprising:

• the driver assistance system being operatively configured to:
• determine a driving trajectory in a recording process based on a route which is manually driven along by a driver with the motor vehicle, and
• maneuver the motor vehicle with at least automated lateral guidance in a repetition process based on the previously determined driving trajectory, wherein:
• the driving assistance system is further operatively configured:
• (i) in the recording process to:
• detect, at the end of the manually driven-along route, the presence of a setpoint target position of the motor vehicle, or
• receive, at the end of the manually driven-along route, via a user interface, information about the setpoint target position of the motor vehicle, and
• (ii) to maneuver the motor vehicle with at least automated lateral guidance in the repetition process such that, at the end of the repetition process, an actual target position of the motor vehicle is at the setpoint target position, and wherein the driver assistance system is further operatively configured:
• to detect, in the recording process at the end of the manually driven-along route, that the setpoint target position is located in a defined surrounding area around the actual target position, or that the actual target position is located in the defined surrounding area around the setpoint target position.