Method for controlling a maneuver of a vehicle

A method for controlling a vehicle in preparation for a maneuver along a first main route direction, the method comprising:

• obtaining a set of entry conditions indicating allowable vehicle states prior to commencing the maneuver, wherein obtaining the set of entry conditions indicating allowable vehicle states prior to commencing the maneuver comprises receiving data indicative of route boundaries and data indicative of a target pose of at least a part of the vehicle within the route boundaries;
• determining a current vehicle state;
• initiating the maneuver if the current vehicle state is comprised in the set of entry conditions;
• predicting a probability of reaching the target pose on the basis of the route boundaries;
• determining whether the predicted probability of reaching the target pose is below a threshold value;
• and
• in response to determining the predicted probability of reaching the target pose is below the threshold value:
• determining an adjusted maneuver of the vehicle in an essentially opposite direction to the first main route direction;
• and
• controlling the vehicle to switch from the maneuver to the determined adjusted maneuver.