Method for determining trajectory for controlling vehicle

The invention relates to a computer-implemented method for determining a trajectory (120, 122) for controlling a vehicle (100), wherein the vehicle (100) is equipped with a sensor system (102, 102a, 102b) for capturing an environment of the vehicle (100) and a vehicle computer (112) for processing sensor data (116) and controlling the vehicle (100). The method comprises the following steps: receiving, in a control module (206) of the vehicle computer (112), sensor data (116) generated by the sensor system (102, 102a, 102b); inputting the sensor data (116) into a security algorithm, the security algorithm having been configured to identify a security-related object (104, 106, 109) based on the sensor data (116); inputting the sensor data (116) into a comfort algorithm, the comfort algorithm having been configured to identify a comfort-related object (108, 109) based on the sensor data (116); estimating a future state of the identified object (104, 106, 108, 109) using an environmental model (226) representing