Method for controlling a trajectory planning process of an ego-vehicle, the method comprising: determining a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle; determining a longitudinal movement of an object, the longitudinal movement comprising a speed of the object; calculating a target trajectory of the object on the basis of a predicted trajectory of the object; calculating an end time of a manoeuvre of the ego-vehicle, the end time of the manoeuvre being a time at which a differential speed between the ego-vehicle and the object has decreased; calculating a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the manoeuvre of the ego-vehicle; and if the calculated distance of the ego-vehicle at the calculated end time of the manoeuvre is equal to a predefined threshold value or undershoots the predefined threshold value: setting the determined speed of the object as the target speed of the ego-vehicle; and transmitting the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle; receiving a desired speed of the ego-vehicle; and if the desired speed of the ego-vehicle is less than the speed of the object and the calculated distance of the ego-vehicle at the calculated end time of the manoeuvre exceeds the predefined threshold value, setting the desired speed as the target speed of the ego-vehicle; and transmitting the target speed to the trajectory planning process for calculating a free travel trajectory for the ego-vehicle. determining a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle; determining a longitudinal movement of an object, the longitudinal movement comprising a speed of the object; calculating a target trajectory of the object on the basis of a predicted trajectory of the object; calculating an end time of a manoeuvre of the ego-vehicle, the end time of the manoeuvre being a time at which a differential speed between the ego-vehicle and the object has decreased; calculating a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the manoeuvre of the ego-vehicle; and if the calculated distance of the ego-vehicle at the calculated end time of the manoeuvre is equal to a predefined threshold value or undershoots the predefined threshold value: setting the determined speed of the object as the target speed of the ego-vehicle; and transmitting the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle; receiving a desired speed of the ego-vehicle; and if the desired speed of the ego-vehicle is less than the speed of the object and the calculated distance of the ego-vehicle at the calculated end time of the manoeuvre exceeds the predefined threshold value, setting the desired speed as the target speed of the ego-vehicle; and transmitting the target speed to the trajectory planning process for calculating a free travel trajectory for the ego-vehicle. setting the determined speed of the object as the target speed of the ego-vehicle; and transmitting the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle; receiving a desired speed of the ego-vehicle; and if the desired speed of the ego-vehicle is less than the speed of the object and the calculated distance of the ego-vehicle at the calculated end time of the manoeuvre exceeds the predefined threshold value, setting the desired speed as the target speed of the ego-vehicle; and transmitting the target speed to the trajectory planning process for calculating a free travel trajectory for the ego-vehicle.