A method for lane recognition for a camera-based driver assistance system, which has a camera attached to a vehicle for recording images of a traffic area located in front of the vehicle, comprising the steps that a) in images recorded by the camera, those image regions which satisfy a predefined recognition criterion are identified as recognized lane markings (12a-d, 16, 18); b) at least two recognized lane markings (12a, 12b) are subjected to a tracking process as lane markings to be tracked, in which tracking process the temporal change of the course of the at least two lane markings (12a, 12b) to be tracked in the road plane is tracked by means of a common recursive state estimator, namely an extended Kalman filter; c) separate courses are estimated by means of the state estimator for at least two of the lane markings (12a, 12b) to be tracked; d) for a plurality of the recognized lane markings (12a-d), a respective offset value is determined which indicates a transverse offset of the recognized lane marking (12a-d) relative to a reference axis extending in parallel with a longitudinal center axis of the vehicle; and e) an association of the determined offset values with a respective one of the separate courses of the lane markings (12a, 12b) to be tracked is carried out by means of an additional estimation method, wherein the state estimator uses a state vector whose components comprise course parameters for each of the lane markings (12a, 12b) to be tracked and additionally comprise a plurality of offset parameters formed by the offset values, wherein separate courses are estimated for exactly two of the lane markings (12a, 12b) to be tracked, wherein the association of the determined offset values with a respective one of the two separate courses is specified by a set of binary parameters, wherein given value combinations of the set of binary parameters are used as input variables for generating additional estimation hypotheses, and wherein a separate association of measurement values with the lane markings (12a, 12b) is performed for each generated hypothesis using the Hungarian method. a) in images recorded by the camera, those image regions which satisfy a predefined recognition criterion are identified as recognized lane markings (12a-d, 16, 18); b) at least two recognized lane markings (12a, 12b) are subjected to a tracking process as lane markings to be tracked, in which tracking process the temporal change of the course of the at least two lane markings (12a, 12b) to be tracked in the road plane is tracked by means of a common recursive state estimator, namely an extended Kalman filter; c) separate courses are estimated by means of the state estimator for at least two of the lane markings (12a, 12b) to be tracked; d) for a plurality of the recognized lane markings (12a-d), a respective offset value is determined which indicates a transverse offset of the recognized lane marking (12a-d) relative to a reference axis extending in parallel with a longitudinal center axis of the vehicle; and e) an association of the determined offset values with a respective one of the separate courses of the lane markings (12a, 12b) to be tracked is carried out by means of an additional estimation method, wherein the state estimator uses a state vector whose components comprise course parameters for each of the lane markings (12a, 12b) to be tracked and additionally comprise a plurality of offset parameters formed by the offset values, wherein separate courses are estimated for exactly two of the lane markings (12a, 12b) to be tracked, wherein the association of the determined offset values with a respective one of the two separate courses is specified by a set of binary parameters, wherein given value combinations of the set of binary parameters are used as input variables for generating additional estimation hypotheses, and wherein a separate association of measurement values with the lane markings (12a, 12b) is performed for each generated hypothesis using the Hungarian method.