A METHOD FOR PLANNING A DRIVING TRAJECTORY DEFINING A TRAVELLING PATH FOR A VEHICLE

The invention relates to a method for planning a driving trajectory (T) defining a travelling path for a vehicle (100), wherein the driving trajectory (T) is intended to be followed by executing one or more vehicle manoeuvres and wherein the vehicle (100) comprises at least one environment perception sensor (10) having a sensor field of view (12), the method comprising: - planning the driving trajectory (T) from a first point (A) to a second point (B), by including at least one additional vehicle manoeuvre resulting in a deviation from an otherwise expected travelling path from the first point (A) to the second point (B), so that each section of an area which the vehicle is intended to pass from the first point (A) to the second point (B) is covered in the sensor field of view (12) at least one time during driving from the first point (A) to the second point (B) and at least before passing each respective section. The invention further relates to a method for automatically driving a vehicle (100) along a driving trajectory (T), a processing unit (30), a control unit and to a vehicle (100).