Method for determining the course of the road for a motor vehicle

A method for determining the course of the road for a moving motor vehicle with at least one surroundings sensor system, wherein sensor data generated by the surroundings sensor system that is directed toward the road are evaluated in order to detect lane-relevant features,

• wherein
• a lane model having at least one lane model parameter that determines the course of the lane is generated for the road,
• structures of at least one distance range that are parallel to the road are detected in the sensor data,
• a tangential direction of at least the one structure that is parallel to the road is determined, and
• a value of the tangential direction of the structure that is parallel to the road is adopted as the value of the direction of the tangent line at the point of contact with the structure that is parallel to the road in order to determine at least the one lane model parameter by a predictive estimation method in the lane model.

A vehicle with a driver assistance system, for carrying out a method for determining the course of the road for a moving motor vehicle with at least one surroundings sensor system, wherein sensor data generated by the surroundings sensor system that is directed toward the road are evaluated in order to detect lane-relevant features, wherein

• a lane model having at least one lane model parameter that determines the course of the lane is generated for the road,
• structures of at least one distance range that are parallel to the road are detected in the sensor data,
• a tangential direction of at least the one structure that is parallel to the road is determined, and
• a value of the tangential direction of the structure that is parallel to the road is adopted as the value of the direction of the tangent line at the point of contact with the structure that is parallel to the road in order to determine at least the one lane model parameter by a predictive estimation method in the lane model.