Control device for planning an at least partially automatic longitudinal and / or transverse guidance

The invention relates to a strategic movement planning of vehicles based on locally optimal driving trajectories. The invention relates in particular to a control device and a method for planning an at least partially automated longitudinal and / or transverse guidance of a motor vehicle (ego vehicle) by means of at least one electronic control unit. By appropriate design (in particular programming) of the control unit according to the present invention are determined from the vehicle environment physically derived and permissible driving options or trajectory hypotheses, the driving options as trajectories considering - the movement model of the own vehicle, - collision relevant obstacles and objects (especially other vehicles) and - physical-physical restrictions (in particular restrictions imposed by the given number of lanes, no passing or other traffic regulations, etc.). Furthermore, according to the invention, an optimal driving option or trajectory hypothesis for the longitudinal and / or transverse movement of the vehicle is determined from these driving options or trajectory hypotheses by minimizing at least one defined quality criterion.