Abstract: A method for ascertaining a dynamic foreign object-driving corridor association with the aid of an image sensor of an ego vehicle, in which images of the environment of the ego vehicle are generated with the aid of the image sensor. A driving corridor of the ego vehicle is ascertained with the aid of the images in the native measuring space of the image sensor from roadway information and/or with the aid of the odometry of the ego vehicle, foreign objects are detected, and at least one kinematic variable is ascertained for at least one of the foreign objects, and at least one dynamic foreign object-driving corridor association for the lateral movement of the foreign object relative to the driving corridor is ascertained based on the at least one kinematic variable and the driving corridor.

Abstract: A method for detecting whether an ego vehicle will leave a currently traveled traffic lane of a roadway to the left or right or whether it will stay in the currently traveled traffic lane. In the method, an image of a measuring space, which includes the vehicle area in front of the ego vehicle, is generated using an image sensor; an expected trajectory of the ego vehicle is projected into the image; at least one traffic lane boundary laterally adjacent to the trajectory is detected; and a decision is made whether the traffic lane will be changed or maintained by comparing the trajectory to the at least one detected traffic lane boundary.