DETERMINING A MOTOR VEHICLE TRACKET

The invention relates to a method for determining a trajectory (7) of a motor vehicle (1) for a driver assistance function, wherein the motor vehicle (1) comprises at least one sensor (2) for detecting a road surface (4) in a direction of travel (11). The method comprises the following steps: determining an initial trajectory (7) (21) of a movement of the motor vehicle (1) on a road (4) having road boundaries (5, 6); determining an upper threshold value (22) of the lateral acceleration of the motor vehicle; detecting a road surface (23) located in front of the motor vehicle in the direction of travel (11) by means of a sensor; determining a vertical profile (24) of the road surface of a plurality of paths (8, 9) running parallel to each other in front of the motor vehicle in the direction of travel by using the data collected by the sensors (2); determining a lateral deviation (26) from the initial trajectory without exceeding a limit value formed by an upper threshold value of the determined lateral accelera