Method and driver assistance system for guiding a vehicle, computer program and - product as well as control device

摘要

Process for the at least lead semi-automated a vehicle (1), comprising a front axle steering system (4) and a rear axle steering system (5) and at least one sensor system (s) for detecting the vehicle environment and the movements of the vehicle, wherein the steering systems (4, 5) and the sensor system (s) by means of at least one control device (sg) are coupled to one another, wherein the vehicle (1) a predetermined, in particular calculated trajectory (t) follows, characterized in that upon detection of a driving situation, which requires a yielding, a time-staggered changing the wheel steering angles (δv, δh) at the front axle (4) and at the rear axle (5) is carried out in order to make at least one transverse displacement of the vehicle as a function to effect of the driving situation.n="30"