Method and arrangement for determining a trajectory

A method for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision in a road environment including the host vehicle H and one or more external objects, the method comprising:

• identifying a position or positions of one or more external objects in relation to the host vehicle H within a predefined distance using at least one of a sensor system or a communication system;
• generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of the one or more external objects using a processing means;
• removing any trajectories intersecting with any one of the one or more external objects using the processing means;
• estimating lateral position, lateral velocity, lateral acceleration and lateral jerk that will act on the host vehicle H driving along any one of the trajectories, using the processing means;
• and
• selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized, using the processing means.