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 for operating a vehicle by a parking assistance system in a following mode where the vehicle is driven along a trained trajectory or to initiate driving is disclosed. The method involves receiving the trained trajectory in a training mode in which a manually navigated trajectory is recorded as the trained trajectory. The trained trajectory has a strongly curved section, the radius of curvature of which is smaller than a radius that can be achieved with the vehicle with a maximum permissible steering lock predefined in the following mode. The method determines a starting point and an end point of the strongly curved section, ascertaining a substitute trajectory which connects a substitute starting point to a substitute end point. The substitute points are each on the trained trajectory and the strongly curved section is between the substitute points.