Method for automatically determining and/or monitoring a target trajectory for a vehicle by means of which a starting point that corresponds to the current position of the vehicle is connected to a target point (sTP), comprising: determining different trajectories (1, 7) of the vehicle that connect the starting point to the target point (sTP), detecting a respective further target trajectory for road users (21, 22), wherein each of the further target trajectories connects the starting point of the respective road user to a target point corresponding to the respective road user (21; 22), determining those trajectories of the vehicle as collision-free trajectories that do not result in a collision with one of the further road users (21, 22) if the respective road user (21; 22) is moving on the target trajectory thereof, and determining and/or monitoring the target trajectory of the vehicle depending on the collision-free trajectories of the vehicle, wherein the minimum and the maximum are determined based on the collision-free trajectories of the vehicle for grid cells (c i,j) of a grid map of a lane on which the vehicle is travelling for at least one property of points of the collision-free trajectories that lie within the respective grid cell (c i,j), wherein a degree of freedom is determined depending on the minimum and the maximum of the at least one property, wherein the degree of freedom is determined at a first point in time and at a later second point in time, wherein the target trajectory of the vehicle is determined and/or monitored depending on a comparison between the degree of freedom that is determined at the second point in time and at least one threshold value that is determined depending on the degree of freedom that is determined at the first point in time, wherein the at least one property is selected from a group comprising: • a speed of the vehicle, • a vehicle orientation of the vehicle, and • a point in time at which the vehicle is in the grid cell (c i,j) according to the respective trajectory, wherein the degree of freedom is determined such that the degree of freedom is greater the more possible actions exist for the vehicle within the respective grid cell (c i,j). determining different trajectories (1, 7) of the vehicle that connect the starting point to the target point (sTP), detecting a respective further target trajectory for road users (21, 22), wherein each of the further target trajectories connects the starting point of the respective road user to a target point corresponding to the respective road user (21; 22), determining those trajectories of the vehicle as collision-free trajectories that do not result in a collision with one of the further road users (21, 22) if the respective road user (21; 22) is moving on the target trajectory thereof, and determining and/or monitoring the target trajectory of the vehicle depending on the collision-free trajectories of the vehicle, wherein the minimum and the maximum are determined based on the collision-free trajectories of the vehicle for grid cells (c i,j) of a grid map of a lane on which the vehicle is travelling for at least one property of points of the collision-free trajectories that lie within the respective grid cell (c i,j), wherein a degree of freedom is determined depending on the minimum and the maximum of the at least one property, wherein the degree of freedom is determined at a first point in time and at a later second point in time, wherein the target trajectory of the vehicle is determined and/or monitored depending on a comparison between the degree of freedom that is determined at the second point in time and at least one threshold value that is determined depending on the degree of freedom that is determined at the first point in time, wherein the at least one property is selected from a group comprising: • a speed of the vehicle, • a vehicle orientation of the vehicle, and • a point in time at which the vehicle is in the grid cell (c i,j) according to the respective trajectory, • a speed of the vehicle, • a vehicle orientation of the vehicle, and • a point in time at which the vehicle is in the grid cell (c i,j) according to the respective trajectory, wherein the degree of freedom is determined such that the degree of freedom is greater the more possible actions exist for the vehicle within the respective grid cell (c i,j).