Abstract: A method for generating an actuation signal for a driver assistance system and/or a system for the at least partially automated control of a vehicle. In the method, suggestions are made available for trajectories to be traveled by the vehicle and/or for other actions to be triggered that affect the driving dynamics of the vehicle. The suggestions are evaluated by a cost function, this cost function including a weighted sum of multiple cost terms, the weights being dynamically adapted. Utilizing the evaluations ascertained using the cost function, at least one trajectory or action is selected from among the suggestions. At least one actuation signal is generated that when conveyed to the driver assistance system or the system for the at least partially automatic control of the vehicle, induces the respective system to travel the selected trajectory with the vehicle or to trigger the suggested action.