METHOD FOR CONTROLLING AN EGO VEHICLE

A method for controlling an ego vehicle. The method includes: receiving map data of a map representation of a surrounding environment of an ego vehicle; determining a safe driving corridor of the ego vehicle based on the map data of the map representation; determining a safety region of the ego vehicle based on a state of motion of the ego vehicle; checking whether the safety region is located completely within the safe driving corridor during travel of the ego vehicle along a travel trajectory; and outputting a control signal for executing a safety maneuver if the safety region is located at least partially outside the safe driving corridor.