METHOD FOR DETERMINING AN UPDATED TRAJECTORY FOR A VEHICLE
A method (500) for determining an updated trajectory (413) at a certain time point for the longitudinal and/or lateral control of a vehicle (100) is described. The method (500) comprises determining (501) short-range trajectory candidates in an immediate vicinity (414) of a trajectory (403) determined at a preceding time point, the short-range trajectory candidates being determined with a relatively fine value resolution of one or more state variables of the vehicle (110). In addition, the method (500) comprises determining (502) at least one long-range trajectory candidate outside of the immediate vicinity (414) of the trajectory (403) determined at the preceding time point, the long-range trajectory candidate being determined with a relatively coarse value resolution of the one or more state variables. Furthermore, the method (500) comprises determining (503) the updated trajectory (413) at the certain time point on the basis of the determined short-range trajectory candidates and on the basis of the determined long-range trajectory candidate.