A method for controlling a host vehicle having a driver assistance system comprising the following steps: a) identifying a lane marker (36;38) in response to a video signal; b) setting a first zone with respect to the lane marker (36; 38), said first zone extending from the lane marker (36; 38) a distance away from said identified lane marker (36; 38) on the distal side of the lane marker (36; 38) with respect to the host vehicle; c) determining by the driver assistance system if the host vehicle is moving into the first zone using a camera controller, characterized in that d) if it is determined that the host vehicle is moving into the first zone without activating a turn signal, then a first alert is transmitted to a display, and e) while the camera controller monitors the motion of the host vehicle, a side radar controller of the host vehicle monitors for obstacles or other vehicles, f) determining by the driver assistance system if an obstacle (32; 42) in response to a detection by the side radar controller of the host vehicle is identified; and g) if an obstacle (32; 42) is identified, a second zone with respect to the lane marker (36; 38) in response to the obstacle detection is set, wherein the second zone extends from said identified lane marker (36;38) a distance between said identified lane marker (36;38) on the proximate side of the lane marker (36;38) towards the vehicle; and h) determining by the driver assistance system if the host vehicle is entering the second zone; and if it is determined that the host vehicle is entering the second zone transmitting a second alert in response to the host vehicle entering the second zone to the display, wherein i) the first alert for the host vehicle entering the first zone is different than the second alert transmitted when the host vehicle enters the second zone. a) identifying a lane marker (36;38) in response to a video signal; b) setting a first zone with respect to the lane marker (36; 38), said first zone extending from the lane marker (36; 38) a distance away from said identified lane marker (36; 38) on the distal side of the lane marker (36; 38) with respect to the host vehicle; c) determining by the driver assistance system if the host vehicle is moving into the first zone using a camera controller, characterized in that d) if it is determined that the host vehicle is moving into the first zone without activating a turn signal, then a first alert is transmitted to a display, and e) while the camera controller monitors the motion of the host vehicle, a side radar controller of the host vehicle monitors for obstacles or other vehicles, f) determining by the driver assistance system if an obstacle (32; 42) in response to a detection by the side radar controller of the host vehicle is identified; and g) if an obstacle (32; 42) is identified, a second zone with respect to the lane marker (36; 38) in response to the obstacle detection is set, wherein the second zone extends from said identified lane marker (36;38) a distance between said identified lane marker (36;38) on the proximate side of the lane marker (36;38) towards the vehicle; and h) determining by the driver assistance system if the host vehicle is entering the second zone; and if it is determined that the host vehicle is entering the second zone transmitting a second alert in response to the host vehicle entering the second zone to the display, wherein i) the first alert for the host vehicle entering the first zone is different than the second alert transmitted when the host vehicle enters the second zone.