1. A method for lane detection for a camera-based driver assistance system comprising a camera attached to a vehicle for 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 a common recursive state estimator, 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 markings 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, wherein for allocation of the determined offset values to a respective one of the separate courses of the lane markings to be tracked, a parametric estimation method is applied; and f) outputting a lane-departure-warning in accordance with the offset values.