Method and System for Assisting a Driver of a Vehicle in Maintaining a Lane

A method for assisting a driver of a vehicle in maintaining a lane includes: detecting driving state measurement signals of a vehicle; ascertaining a driving trajectory of the vehicle based on the detected driving state measurement signals; detecting surroundings information signals of the vehicle; ascertaining a lane trajectory of the lane based on the surroundings information signals; ascertaining points of intersection of the ascertained driving trajectory with the ascertained lane trajectory; determining, based on the ascertained points of intersection, whether a lane return situation is present in connection with a determined a lane departure situation; and emitting a signal to effectuate an assistance of the driver in maintaining the lane based on the determination.