A control system which is set up and designed for use in a subject motor vehicle , based on environment data obtained from at least one environment sensor associated with the vehicle, to detect lanes, road boundaries, road markings, other motor vehicles and/or objects in a region in front of, laterally adjacent to and/or behind the subject motor vehicle, wherein the at least one environment sensor is set up and designed to provide an electronic controller of the control system with environment data reflecting the region in front of, laterally adjacent to and/or behind the subject motor vehicle, and wherein the control system is at least set up and designed to, - determine information relating to a current driving situation of the subject motor vehicle and at least one other motor vehicle on the basis of the environment data provided, - determine a plurality of lateral positions based on the information relating to the current driving situation of the subject motor vehicle and/or the other motor vehicle, - determine a number of longitudinal positions and/or speeds based on the information relating to the current driving situation of the subject motor vehicle and/or the other motor vehicle, and - determine, from the plurality of lateral positions and the number of longitudinal positions and/or speeds, stopping points for a trajectory for the subject motor vehicle , which the subject motor vehicle is to follow to carry out a driving maneuver, characterized in that the control system is further set up and designed to - determine the trajectory for the subject motor vehicle by means of a spline-based interpolation between the determined stopping points and corresponding to the lateral positions at the stopping points, and - determine the plurality of lateral positions and/or the plurality of longitudinal positions and/or speeds for the subject motor vehicle and/or for the other motor vehicle in curvilinear coordinates with respect to a reference lane provided to the control system of the subject motor vehicle by the environment data, and to check the trajectory for the subject motor vehicle in orthogonal coordinates. - determine information relating to a current driving situation of the subject motor vehicle and at least one other motor vehicle on the basis of the environment data provided, - determine a plurality of lateral positions based on the information relating to the current driving situation of the subject motor vehicle and/or the other motor vehicle, - determine a number of longitudinal positions and/or speeds based on the information relating to the current driving situation of the subject motor vehicle and/or the other motor vehicle, and - determine, from the plurality of lateral positions and the number of longitudinal positions and/or speeds, stopping points for a trajectory for the subject motor vehicle , which the subject motor vehicle is to follow to carry out a driving maneuver, characterized in that the control system is further set up and designed to - determine the trajectory for the subject motor vehicle by means of a spline-based interpolation between the determined stopping points and corresponding to the lateral positions at the stopping points, and - determine the plurality of lateral positions and/or the plurality of longitudinal positions and/or speeds for the subject motor vehicle and/or for the other motor vehicle in curvilinear coordinates with respect to a reference lane provided to the control system of the subject motor vehicle by the environment data, and to check the trajectory for the subject motor vehicle in orthogonal coordinates. <EOS>