Control unit and method for an emergency steering support function

A control device for a land vehicle, wherein the control device is set up to control at least one actuator of the land vehicle on the basis of an avoidance trajectory calculated by the control device in order to support a driver of the land vehicle during an evasive maneuver, the control device also being set up

• to receive sensor signals of at least one sensor;
• to generate an environmental model from the received sensor signals;
• to determine the position of an object relative to a current position of the driver's own vehicle in the generated environmental model;
• and
• to calculate a preliminary avoidance trajectory, wherein
• the current position of the driver's own vehicle in the environmental model constitutes the starting point of the preliminary avoidance trajectory,
• a preliminary end point of the preliminary avoidance trajectory being determined on the basis of the determined position of the object, and wherein
• at least the coordinates of the starting point and of the preliminary end point are used to determine the parameters of the preliminary avoidance trajectory,
• the control device also being set up to extend the preliminary avoidance trajectory by changing the coordinates of the preliminary end point in order to determine an optimized avoidance trajectory with a lesser curvature than the preliminary avoidance trajectory.