Adjusting unit for adjusting trajectory of at least semi-automated movable platform

The invention relates to an adjustment unit for adjusting a trajectory of an at least semi-automatic movable platform, comprising: a trajectory planning module which is designed to determine, on the basis of a dynamic model and by means of a target limit of a system variable of the dynamic model, a target trajectory of the movable platform, a maximum disturbance acting on the movable platform, and a target trajectory of the system variable of the dynamic model; and determining an undisturbed trajectory and a maximally disturbed trajectory based on the rated trajectory to determine a maximum deviation; based on the maximum deviation, determining the limitation of the system parameter, which is more restrictive than the rated limitation; and generating a pre-control regulation parameter trajectory and a pre-control state parameter trajectory based on a more constraining limit to comply with a rated limit of a system parameter; the track follow-up adjusting module is coupled with the track planning module; the t