Method and control unit for generating a trajectory for a vehicle

A control unit configured to carry out, implement and/or control, a method for generating a trajectory for a vehicle, the method comprising the following steps:

• simplifying a driving task to be completed by the trajectory by extracting nonlinear and discontinuous constraints and eliminating the nonlinear and discontinuous constraints from the driving task n order to obtain a simplified driving task;
• subdividing the simplified driving task into at least two different subproblems;
• creating a reference profile for one of the subproblems;
• determining at least two trajectory candidates for the subproblem for which the reference profile was created using the reference profile;
• comparing the trajectory candidates with the eliminated constraints;
• and
• selecting a trajectory to be executed for the vehicle using a result of the comparison.

A non-transitory machine-readable storage medium on which is stored a computer program for generating a trajectory for a vehicle, the computer program, when executed by a computer, causing the computer to perform the following steps comprising:

• simplifying a driving task to be completed by the trajectory by extracting nonlinear and discontinuous constraints and eliminating the nonlinear and discontinuous constraints from the driving task n order to obtain a simplified driving task;
• subdividing the simplified driving task into at least two different subproblems;
• creating a reference profile for one of the subproblems;
• determining at least two trajectory candidates for the subproblem for which the reference profile was created using the reference profile;
• comparing the trajectory candidates with the eliminated constraints;
• and
• selecting a trajectory to be executed for the vehicle using a result of the comparison.