Abstract: A trajectory planning system for a vehicle includes a sensor system for measuring an actual curvature on the basis of a respective current yaw rate, a memory containing a target trajectory with target curvatures, wherein the trajectory planning system determines target yaw rates from the target curvature, and a steering system that uses steering variables to obtain target curvatures in actual curvatures. The system determines a respective first actual derivative of the measured respective current actual yaw rate over time and a respective first target derivative of the respective current target yaw rate over time. A correlator determines a respective current delay on the basis of the respective first actual derivatives and the respective first target derivatives in a current yaw rate segment, and a parameter estimator recursively estimates the delay between the target yaw rate and the actual yaw rate on the basis of respective current delay inputs.