Abstract: A method for calculating a desired trajectory for a vehicle is provided. The vehicle is located at a position on a road bounded by two road edges, wherein the road edges are known at least in a region around the position of the vehicle. A spring-mass model is introduced, wherein the spring-mass model is used for calculating the desired trajectory, wherein the positions of the point masses are calculated for a rest state of the spring-mass model, and the calculated positions of the point masses are used as data points for the calculation of a curve connecting the point masses, whereby the curve represents the desired trajectory.