Control system and control method for sampling based planning of possible trajectories for motor vehicles

A control system which is set up and designed for use in a subject motor vehicle traveling in a reference lane, based on environment data obtained from at least one environment sensor associated with the subject motor vehicle, to detect lanes including the reference lane, road boundaries, road markings, other motor vehicles and/or objects in a region in front of, laterally adjacent to and/or behind the subject motor vehicle, wherein the at least one environment sensor is set up and designed to provide an electronic controller of the control system with the environment data reflecting the region in front of, laterally adjacent to and/or behind the subject motor vehicle, and wherein the control system is at least set up and designed to,

• determine information relating to a current driving situation of the subject motor vehicle and at least one other motor vehicle on a basis of the environment data provided,
• determine a plurality of lateral positions based on the information relating to the current driving situation of the subject motor vehicle and/or the at least one other motor vehicle,
• determine a number of longitudinal positions and/or speeds based on the information relating to the current driving situation of the subject motor vehicle and/or the at least one other motor vehicle,
• sample the plurality of lateral positions in a static state space and the number of longitudinal positions and/or speeds in a dynamic action space in curvilinear coordinates and transform the curvilinear coordinates based on the reference lane recognized by the at least one environment sensor to determine stopping points for a trajectory for the subject motor vehicle, which the subject motor vehicle is to follow to carry out a driving maneuver,
• determine the trajectory for the subject motor vehicle utilizing a spline-based interpolation in orthogonal coordinates between the determined stopping points and corresponding to the lateral positions at the determined stopping points;
• and
• control the subject motor vehicle to execute at least a portion of the trajectory.