METHOD AND ARRANGEMENT FOR DETERMINING SAFE VEHICLE TRAJECTORIES

The present disclosure relates to a method and arrangement for determining safe vehicle trajectories for a vehicle (1) equipped with sensors (2) for monitoring the surrounding environment, taking into account sensing limitations, as well as a vehicle (1) comprising such an arrangement. The method comprises the steps of: detecting observable obstacles (3); detecting unobservable areas (4); adding virtual obstacles (5) in unobservable areas (4); associating each observable obstacle (3) and each virtual obstacle (5) with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle (3, 5) and events; and determining safe vehicle (1) trajectories based on both observable obstacles (3) and virtual obstacles (5) and the occurrence probability of each combination of obstacle (3, 5) and events.