The present invention relates to a computer-implemented method for determining the trajectory (120, 122) of a controlled vehicle (100), wherein the vehicle (100) is equipped with a
sensor system (102, 102a, 102b) for capturing the environment of the vehicle (100) and a vehicle computer (112) for
processing sensor data (116) and controlling the vehicle (100). The method includes the following steps: receiving sensor data (116) generated by the
sensor system (102, 102a, 102b) in the control module (206) of the vehicle computer (112); inputting the sensor data (116) into a safety
algorithm configured to identify safety-related objects (104, 106, 109) based on the sensor data (116); inputting the sensor data (116) into a comfort
algorithm configured to identify comfort-related objects (108, 109) based on the sensor data (116); and using an
environmental model (226) representing the environment of the vehicle (100) to estimate the future of the identified objects (104, 106, 108, 109). The environment model stores identified objects (104, 106, 108, 109) and tracks them over time; based on the estimated future states of the identified objects (104, 106, 108, 109), a safety trajectory (120) is calculated considering safety specifications and a comfort trajectory (122) is calculated considering comfort specifications; it is checked whether the comfort trajectory (122) meets the safety specifications; if the comfort trajectory (122) meets the safety specifications, the vehicle (100) is controlled using the comfort trajectory (122); if the comfort trajectory (122) does not meet the safety specifications, the vehicle (100) is controlled using the safety trajectory (120).