1. A method for lane detection for a camera-based driver assistance system comprising a camera attached to a vehiclefor capturing images of a traffic space ahead of the vehicle, wherein the method includes: a) identifying in an image captured by a camera that areas of the image are identified as recognized lane markings which meet a predetermined recognition criterion; b) tracking at least two recognized lane markings, wherein a temporal change of a course of the at least two lane markings to be tracked in the road surface plane is tracked using an extended Kalman filter, c) estimating separate courses for the at least two of the lane markings to be tracked; d) determining a respective offset value for the at least two recognized lane markings, wherein said respective offset value indicates a transversal offset of the at least two recognized lane marking relative to a reference axis parallel to a center longitudinal axis of the vehicle; and e) performing an allocation of the respective offset value to a respective one of the separate courses of the lane markings to be tracked.