A method for recognizing a change of a relative yaw angle at a stereo video system for a vehicle. An image pair is read in from first and second cameras at a first time, and a further image is read in from the first camera at a later time. A stationary surface is ascertained using the image pair and the stereo base to obtain an angle of inclination of the stereo video system. The stationary surface is determined using the first image of the image pair and the further image to obtain a comparison angle. A correspondence transformation between the first image and the further image is acquired if the stereo video system has moved by a distance between the first time and the further time. The angle of inclination is compared with the comparison angle to recognize the change of the relative yaw angle.