Abstract: A computer-implemented method for providing safe control inputs for actuator components of a vehicle for implementing a specified trajectory. A vehicle state is determined at a first time, and a first set of control inputs for the first time is provided. It is then checked whether the first set of control inputs is safe by checking whether the vehicle state predicted based on the vehicle state and the first set of control inputs for a later second time is safe. The predicted vehicle state is considered safe if it is within a predetermined maximum controlled invariant state set. If the vehicle state is not considered safe, a safe set of control inputs is determined, by modifying the first set of control inputs such that the vehicle state predicted based on the vehicle state and the modified set of control inputs is considered safe.