Method for trajectory prediction, method for controlling an ego vehicle

A computer-implemented method for trajectory prediction. The method includes: receiving trajectory data of motion trajectories of road users arranged in a surrounding area of the ego vehicle by a prediction module, wherein the trajectory data are arranged in a graph representation; receiving map data of a map representation mapping the surrounding area of the ego vehicle by the prediction module; generating an interaction graph representation for the plurality of road users based on the trajectory data of the road users and roadway location information of the map representation by the prediction module; and predicting a future motion trajectory to be executed for at least one other road user based on the trajectory data, the map data, and the interaction graph representation of the road users by the prediction module.