Abstract: A method for automatically determining a trajectory for a vehicle, wherein the trajectory connects a starting point, which corresponds to the current position of the vehicle, to a target point. The trajectory determination process includes determining multiple intermediate points; determining at least a first partial trajectory, which connects the starting point to one of the intermediate points; determining multiple second partial trajectories, which connect the target point to one of the intermediate points in each case; determining the trajectory by selecting one of the at least one first partial trajectories and one of the second partial trajectories; actuating at least one component of the vehicle based on the determined trajectory; and ending at least two partial trajectories at each intermediate point.