Abstract: A method for determining a replacement trajectory for a vehicle operated in an autonomous driving mode is disclosed. The method involves receiving a predefined trajectory with a first section and a second section that are linked to one another at a travel direction turning point, wherein a travel direction of the first section is different from that of the second section, receiving a sensor signal indicative of surroundings of the vehicle, detecting an obstacle in the surroundings on the basis of the received sensor signal, calculating at least one collision point on the predefined trajectory at which a collision occurs between the vehicle and the obstacle, and ascertaining the replacement trajectory based on the at least one calculated collision point. The replacement trajectory connects a starting point, located before the collision point, to an end point on the predefined trajectory, located after the collision point, while avoiding the collision.

Abstract: The invention relates to a method for: displaying an environment (16) of a vehicle (10), the vehicle (10) having a camera-based environment detection system (14) for detecting the environment (16) of the vehicle (10); and moving the vehicle (10) to a target position (24) in the environment (16). The method comprises the steps: providing images of the environment (16) of the vehicle (10) using the camera-based environment detection system (14); generating a bird's eye view of an environment image (26) based on the images of the environment (16) of the vehicle (10) provided using the camera-based environment detection system (14); determining at least one target position (24) in the environment (16) of the vehicle (10); displaying the at least one target position (24) in a first superimposition plane which covers the environment (16) of the vehicle (10); and superimposing the first superimposition plane on the environment image (26).

Abstract: One aspect relates to a method for training a trajectory (12) for a vehicle (3), along which the vehicle (3) drives into a parking area (P), wherein, during a training drive, the environment (11) of the vehicle (3) is captured using a first capture device (7, 8, 9) of the vehicle (3), which first capture device constitutes a first type of function with respect to the type of capture and/or a capture state and/or the position on the vehicle and/or the orientation on the vehicle (3), and the trajectory (12) is determined on the basis thereof, wherein, during a subsequent drive which follows the training drive and in which the vehicle (3) drives to the parking area (P) at least in certain regions, the environment (11) is captured using a second capture device (7, 8, 9) of the vehicle (3), which second capture device constitutes a second type of function differing from the first type of function with respect to the type of capture and/or a capture state and/or the position on the vehicle (3) and/or the orientatio