Driver-assistance system for generating a local lane data for controlling a vehicle to keep the vehicle in the lane and for generating global lane data by a gnss receiver for reusing information provided by the local lane data

A driver-assistance system for keeping a vehicle in a lane of a road when driving along segments of the road, the driver-assistance system comprising:

• a GNSS receiver;
• a camera;
• and
• a control unit,
• wherein:
• the driver-assistance system is configured to calculate respective local lane data dependent on a respective image of at least the respective segment generated by the camera,
• the respective local lane data specifies a respective course of the lane on the respective segment relative to the vehicle,
• the control unit is configured to steer the vehicle dependent on the respective local lane data such that the vehicle stays in the lane when driving on the respective segment,
• the driver-assistance system is configured to convert the respective local lane data into respective global lane data dependent on respective GNSS data of the vehicle generated by the GNSS receiver when driving on the respective segment and to save the respective global lane data, and
• the respective global lane data specifies the respective course of the lane on the respective segment in global coordinates.