Abstract: A method for generating a trajectory for a vehicle. A driving task to be completed by the trajectory is simplified by extracting nonlinear and discontinuous constraints and eliminating them from the driving task in order to obtain a simplified driving task. The simplified driving task is subdivided into at least two different subproblems, and a reference profile is created for one of the subproblems. At least two trajectory candidates for the subproblem are determined using the reference profile. A comparison of the trajectory candidates with the previously eliminated constraints is carried out. The trajectory to be executed for the vehicle is selected using a result of the comparison.

Abstract: A method for functionally improving environment modeling in an assistance system of a vehicle. The method includes: providing calculation paths of the assistance system, wherein the calculation paths include a respective environmental detection, wherein sensor data are analyzed and merged as part of the environmental detection, wherein the sensor data result from detection by a sensor of the vehicle; ascertaining an action option for the vehicle from each of the calculation paths based on the respective environmental detection; exchanging a corresponding result of the environmental detection between the calculation paths; modifying the action option of at least one of the calculation paths based on the corresponding exchanged result of the environmental detection, wherein at least one safety requirement of the corresponding calculation path are taken into account; determining a target action option for the assistance system based on a result of the modification.

Abstract: A method for safeguarding a driving behavior of a vehicle by providing an emergency stop trajectory for the vehicle. A computer program, a device, and a storage medium for this purpose are also described.

Abstract: A method for autonomous operation of a vehicle on a driving route ahead permits autonomous operation of the vehicle is only permitted if one or a group of conditions is/are fulfilled for a predetermined route length of the driving route ahead. The conditions include: there is a structural separation on at least one side of a current travel path of the vehicle; a driving lane of the vehicle has a minimum lane width; there are no humps and dips substantially limiting the range of environmental detection sensors; the number of driving lanes does not change; there are no tunnels; there are no buildings on the travel path; there are no motorway junctions; a radius of curvature of the driving lane of the vehicle is larger than a predetermined limit value; there are no traffic disruptions; there are no traffic reports about dangerous situations; and there are no traffic reports about the presence of roadworks.