Trajectory of a vehicle, a vehicle comprising the apparatus

An apparatus () and a method for checking the safety of a predetermined trajectory () of a vehicle (), wherein an object, (), in particular an object or a road user, from objects () detected in the vicinity of the vehicle () is selected. The trajectory () and information about a position and/or a movement of the object () is converted to a Frenet coordinate system. The Frenet coordinate system is checked to see whether an area of the trajectory () exists in which the object () and the vehicle () are commonly located on the trajectory (), and wherein a collision is detected () if the area exists.