Method and device for the lateral guidance of a motor vehicle, in particular for assisting evasive action

A method and a device for lateral guidance of a motor vehicle (4), in particular for evasive assistance of a motor vehicle, is proposed, with which a collision can be avoided, wherein obstacles (3, 7, 8, 9) are detected by means of an object detection sensor (5) and information regarding their position relative to the vehicle and at least one further property is determined, and the obstacles are classified with respect to their property "passable" or "non-passable". Furthermore, a trajectory is determined that describes a collision-free driving corridor away from the detected obstacles, and steering signals are determined according to the trajectory and output to a lateral controller for evasive assistance or for automatic evasion of the vehicle, wherein the classification "passable" or "non-passable" is carried out on the basis of the height of the obstacle determined by the object detection sensor.