Abstract: A driver assistance system for collision avoidance includes an environmental sensor for detecting an obstacle on an anticipated trajectory of a vehicle. A computing unit searches for a first evasion trajectory on which the obstacle is collision-free and for a second evasion trajectory which is transmitted from the probable trajectory and on which the obstacle can be traversed without collision. A steering system is controllable by a computing unit to steer the vehicle along one of the evasion trajectories. The computing unit is arranged to steer the steering system only and to steer the vehicle along the first evasion trajectory when the search for the second evasion trajectory is unsuccessful.

Abstract: A driver assistance system for avoiding collisions comprises a proximity sensor (8) for detecting an obstacle (3) on a predicted trajectory (14) of a vehicle (1); a computer unit (12) for searching for a first evasive trajectory (15), on which the vehicle can drive around the obstacle (3) without colliding, and for searching for a second evasive trajectory (19), which branches off the predicted trajectory (14) at a future point in time (18) and on which the vehicle can drive around the obstacle without colliding, a steering system (22) that can be activated by the computer unit (12) in order to steer the vehicle (1) along one of the evasive trajectories (15, 19), wherein the computer unit (12) is designed for only activating the steering system (22) and steering the vehicle (1) along the first evasive trajectory (15) if the search for the second evasive trajectory (19) is unsuccessful.

Abstract: A method for finding an evasive trajectory for avoiding an obstacle for a vehicle on a roadway. A component of a candidate trajectory parallel to the roadway is determined by selecting weighting coefficients of a first weighted sum of orthogonal functions of time. A component of the candidate trajectory orthogonal to the roadway is determined by selecting weighting coefficients of a second weighted sum of the orthogonal functions. An optimization parameter for the candidate trajectory is calculated. At least one coefficient of at least one of the sums is modified and the procedure is repeated when the optimization parameter does not reach a termination criterion.