Abstract: A method for trajectory planning of a vehicle includes storing a desired driving path of the vehicle. The method then includes observing external interference factors (2) on the vehicle. The method proceeds by using the driving path and the interference factors (2) to calculate tracking errors (3) and secondary conditions (4). The method then includes optimizing a trajectory (5) in such a way that the tracking errors (3) are reduced within the secondary conditions (4). A corresponding device, a corresponding computer program, and a corresponding storage medium also are provided.

Abstract: A light module for reception in a headlamp of a vehicle. The light module includes at least one light unit for the emission of light, and a carrier frame in which the light unit is held in the headlamp. At least one adjustment unit is also provided, by means of which the light unit can be moved in the headlamp around at least one adjusting axis. The adjustment unit has an eccentric gear with an output axle coinciding with the adjusting axis. A basic structure of the eccentric gear extends around the output axle in a disc-shaped manner.