Abstract: A method for determining an evasion trajectory for a vehicle to evade one or more objects is disclosed. The method involves recognizing a first object in a predicted trajectory of the vehicle, determining a lateral evasion distance left with respect to the first object, determining a lateral evasion distance right with respect to the first object, selecting the smaller one of the lateral evasion distance left and lateral evasion distance right as a first ideal lateral evasion distance, and determining a first ideal evasion trajectory on which the vehicle passes the object depending on the first ideal lateral evasion distance.