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: A method is described for avoiding a collision of a motor vehicle with an object. A relative position between the motor vehicle and the object is determined. Depending on the relative position between the motor vehicle and the object, at least one collision avoidance measure is determined. A maximum specifiable steering angle range is determined. Within the maximum specifiable steering angle range, a blocked steering angle range, for which the collision with the object is threatened and preventable, and a warning steering angle range, for which no collision with the object is threatened and which is adjacent to the blocked steering angle range, are determined on the basis of the relative position between the motor vehicle and the object. A first collision avoidance measure for the blocked steering angle range and a second collision avoidance measure for the warning steering angle range are determined.

Abstract: A method is described for avoiding a collision of a motor vehicle (1) with an object (8), in which the object (8) is detected in an environment (7) of the motor vehicle (1), a relative position between the motor vehicle (1) and (8) and the object is determined and depending on the relative position between the motor vehicle (1) and the object (8) at least one collision avoidance measure is determined, wherein a maximum specifiable steering angle range (rm) is determined, in which maximum specifiable steering angle range (rm) a blocked steering angle range (rb), for which the collision with the object (8) is threatened and preventable, and a warning steering angle range (rw), for which no collision with the object (8) is threatened and which is adjacent to the blocked steering angle range (rb), are determined on the basis of the relative position between the motor vehicle (1) and the object (8), a first collision avoidance measure for the blocked steering angle range (rb) and a second collision avoidance measu