place in various ways thus a calculation can take place on the basis of the average transverse acceleration a y when there is a change of lane and the lateral distance u03b4y spw for a change of lane on the basis of the following equation 3 where u03b4y spw can in turn be calculated from the lane width and relative position of foreign vehicle u201c oe u201d 115 relative to home vehicle u201c ego u201d 110 here in addition a comfortable distance from vehicle u201c oe u201d 115 traveling in front can be taken into account alternatively time duration u03b4t spw can be determined from the driving characteristic of a test collective e g in the case of a networking of vehicles in terms of data or communication or by training the driving characteristic of the current driver for example by evaluating lane markings and or steering movements following step 270 in step 275 it is checked whether the named secondary conditions for the trajectory x n t u n t are met because a change of lane must not infringe the safety and comfort limits with regard to vehicle u201c oe u201d 115 traveling in front as long as the change of lane has.