vehicle 1 compare fig2 since the now single trajectory coefficient is defined already when the middle is reached a delay in the object lateral offsets yv is also only necessary up to the middle the time delay is achieved for example by a triply cascaded low pass filter not shown here having a dynamic time constant tauy for improving the transient response here the following relations apply tauy t j min tauy max t j tauy max t j u2212 1 t cycle in the case that a valid measured value exists for the object otherwise it follows that tauy t j max o tauy max t j u2212 1 u2212 t cycle 2 tauy t j max ftauyd d t j v ref t j ftauykap taukap the filtering using the three low pass stages yields a total group delay of 3tauy t j thus in three measuring cycles one obtains the following lateral offsets yv 1 t j t cycle tauy t j yv t j u2212 yv 1 t j u2212 1 yv 2 t j t cycle tauy t j yv 1 t j u2212 yv 2 t j u2212 1 yv 3 tj t cycle tauy.