Method for determining a trajectory for a mobile device

A method for determining a trajectory, which includes a movement path and a velocity profile along the movement path, according to which a mobile device is intended to move in surroundings along one or multiple possible specified movement paths, the method comprising:

• providing a set of different monitoring zones, wherein each of the different monitoring zones respectively defines an area around the mobile device in which area the mobile device is monitoring or is intended to monitor the surroundings, and wherein a monitoring zone configuration, which respectively comprises a predetermined monitoring zone of the set of the different monitoring zones, is assigned to the mobile device according to a specified assignment criterion depending on a velocity of the mobile device, the mobile device being configured to perform an action in response to an obstacle being detected by the mobile device in the monitoring zone configuration;
• providing a permissibility criterion indicating a permissible monitoring zone from the set of different monitoring zones;
• determining a sequence of critical velocities for the mobile device based on the set of different monitoring zones, wherein the critical velocities each indicate a maximum permissible velocity for the mobile device for a respective monitoring zone configuration;
• determining the trajectory based on the sequence of critical velocities and based on the permissibility criterion in context of an optimization, the determining of the trajectory comprising:
• determining a selected critical velocity from the sequence of critical velocities so that a monitoring zone configuration to be associated with the selected critical velocity satisfies the permissibility criterion;
• and
• determining the trajectory based on the selected critical velocity;
• and
• providing the trajectory, and causing the mobile device to move according to the trajectory.