Driver assistance system for the recognition of the environment and the detection of a nominal trajectory

Method for controlling a system driver support (1) with sensors for detection of the vehicle environment, wherein the obstacles are monitored in the vehicle environment and at an obstacle detected, is modified such path nominal vehicle that enables a step safely by the obstacle, by the width of an obstacle is detected and associated with the obstacle detected a safety zone which exceeds the width of the obstacle, wherein the obstacle is classified and because the size of the safety zone around the obstacle depending on the classification is determined.