A method for autonomous motion control and motion planning of a vehicle, the method comprising the steps of - providing an initial vehicle position, an initial time instance and an initial vehicle state characterized by at least one vehicle state parameter, - providing a parameter value range for the vehicle state parameter, and a step-parameter having a step-value, - calculating, by a motion control unit, a set of feasible vehicle states comprising feasible vehicle states for parameter values within the parameter value range, wherein the feasible vehicle states are equilibrium states of the vehicle state parameter, - determining, by the motion control unit, a set of reachable vehicle states, wherein each of the reachable vehicle states is a feasible vehicle state that can be reached within the step-value of the step-parameter from a same feasible vehicle state or from an other feasible vehicle state, - constructing a vehicle trajectory, by a motion planner unit, the vehicle trajectory being a sequence of consecutive feasible vehicle states starting from the initial vehicle state and the initial vehicle position and comprising for each consecutive feasible vehicle state of the vehicle trajectory a vehicle position and a time instance, wherein the consecutive feasible vehicle states of the vehicle trajectory are reachable vehicle states on the basis of a previous feasible vehicle state, of a vehicle position belonging to the previous feasible vehicle state, of a previous time instance of the previous feasible vehicle state, and of the step-value of the step-parameter, and - controlling, by the motion control unit, at least one vehicle actuator to drive the vehicle to each of the consecutive feasible vehicle states of the vehicle trajectory, characterized in that - the vehicle is defined as a hybrid dynamical system having at least two hybrid modes, the at least two hybrid modes altogether describing continuous dynamic behaviours and discrete dynamic behaviours of the vehicle, - the hybrid modes are defined based on one or more hybrid mode parameters, - the feasible vehicle states are calculated for each hybrid mode, and - each feasible vehicle state of the vehicle trajectory corresponds to a same hybrid mode or to a different hybrid mode compared to the hybrid mode of the previous feasible vehicle state of the vehicle trajectory. - providing an initial vehicle position, an initial time instance and an initial vehicle state characterized by at least one vehicle state parameter, - providing a parameter value range for the vehicle state parameter, and a step-parameter having a step-value, - calculating, by a motion control unit, a set of feasible vehicle states comprising feasible vehicle states for parameter values within the parameter value range, wherein the feasible vehicle states are equilibrium states of the vehicle state parameter, - determining, by the motion control unit, a set of reachable vehicle states, wherein each of the reachable vehicle states is a feasible vehicle state that can be reached within the step-value of the step-parameter from a same feasible vehicle state or from an other feasible vehicle state, - constructing a vehicle trajectory, by a motion planner unit, the vehicle trajectory being a sequence of consecutive feasible vehicle states starting from the initial vehicle state and the initial vehicle position and comprising for each consecutive feasible vehicle state of the vehicle trajectory a vehicle position and a time instance, wherein the consecutive feasible vehicle states of the vehicle trajectory are reachable vehicle states on the basis of a previous feasible vehicle state, of a vehicle position belonging to the previous feasible vehicle state, of a previous time instance of the previous feasible vehicle state, and of the step-value of the step-parameter, and - controlling, by the motion control unit, at least one vehicle actuator to drive the vehicle to each of the consecutive feasible vehicle states of the vehicle trajectory, characterized in that - the vehicle is defined as a hybrid dynamical system having at least two hybrid modes, the at least two hybrid modes altogether describing continuous dynamic behaviours and discrete dynamic behaviours of the vehicle, - the hybrid modes are defined based on one or more hybrid mode parameters, - the feasible vehicle states are calculated for each hybrid mode, and - each feasible vehicle state of the vehicle trajectory corresponds to a same hybrid mode or to a different hybrid mode compared to the hybrid mode of the previous feasible vehicle state of the vehicle trajectory.