Abstract: A method for adapting a predefined reference line for a transportation vehicle, a device, and a transportation vehicle. A predefined reference line is received by a control unit. A distance value of a maximum lateral distance from the predefined reference line is received by the control unit from an input device and a permissible area is specified that extends along the reference line and the lateral boundary of which is the maximum distance from the reference line that is specified by the distance value. A driving path optimized for a minimum driving time is calculated by a specified first mathematical optimization method starting from the current transportation vehicle position. The first mathematical optimization method has at least one boundary condition that requires a course of the driving path within the permissible area. The distance value is specified by a user input by the input device.

Abstract: A driving assistance device for the semi-autonomous and fully autonomous guidance of a transportation vehicle, wherein the driving assistance device calculates potential return trajectories for the respective return of a transportation vehicle from an initial condition, which deviates from a predefined target trajectory, to the target trajectory, wherein each return trajectory satisfies a respective predetermined driving dynamics profile which defines a permissible value range of a total acceleration, and to which a respective degree of autonomy is assigned.

Abstract: A method and an apparatus for determining a resulting setpoint value for regulating a steering device of a vehicle, wherein a setpoint value for the automated steering mode is determined at least in an automated steering mode of a vehicle, wherein a setpoint value for the manual steering mode is determined, wherein the resulting setpoint value is determined by changing the setpoint value for the automated steering mode as a function of the setpoint value for the manual steering mode.