Means for determining the surroundings of a motor vehicle with at least one region of a method

The present invention relates to at least a travelable area (2a) for determining a motor vehicle (1) for a vehicle, in particular a guide associated with the surroundings, in particular for the motor vehicle for obtaining (1) the method of evasion trajectory driver assistance system (4), wherein the motor vehicle (1) having at least one object detection sensor (5,6), said at least one object detection sensor (5,6) for detecting said vehicle (1) in the surroundings of an object or obstacle (3). Consider the motor vehicle (1) said at least one object detection sensor (5, 6) change with time of the object (3) with respect to at least one of the detected occupancy information.