Method for automated guidance of a vehicle along a predetermined target trajectory (TS) with an actual speed (vIst), wherein the target trajectory (TS) is characterized by geometric trajectory variables (kG), the method comprising at least the following steps: - determining an actual deviation (dTS) of the vehicle from the target trajectory (TS) (ST1); - outputting the determined actual deviation (dTS) to a control unit , and generating manipulated variables (GA10, GB10, GL10) in the control unit based on the determined actual deviation (dTS) (ST3), such that the vehicle moves closer to the target trajectory (TS) during automated control of a drive system and/or a braking system and/or a steering system of the vehicle on the basis of the generated manipulated variables (GA10, GB10, GL10), if the vehicle deviates from the target trajectory (TS), characterized by the additional steps of; - determining, in the control unit , whether an undesirable driving state (Z1u) with respect to stability is present for a future point in time (tZ) when the vehicle moves closer to the target trajectory (TS) on the basis of the generated manipulated variables (GA10, GB10, GL10), wherein the undesirable driving state (Z1u) is determined from the predetermined target trajectory (TS) based on the geometric trajectory variables (kG) (STS2, STS3, STS4, STS5); and - if the presence of the undesirable driving state (Z1u) is identified for a future point in time (tZ), -- controlling the vehicle in an automated manner (ST5) based on stability variables (GA21, GA23, GB21, GB23, GBL, GL21, GLK) generated in the control unit , and/or -- adjusting the received target trajectory (TS) (STS5). - determining an actual deviation (dTS) of the vehicle from the target trajectory (TS) (ST1); - outputting the determined actual deviation (dTS) to a control unit , and generating manipulated variables (GA10, GB10, GL10) in the control unit based on the determined actual deviation (dTS) (ST3), such that the vehicle moves closer to the target trajectory (TS) during automated control of a drive system and/or a braking system and/or a steering system of the vehicle on the basis of the generated manipulated variables (GA10, GB10, GL10), if the vehicle deviates from the target trajectory (TS), characterized by the additional steps of; - determining, in the control unit , whether an undesirable driving state (Z1u) with respect to stability is present for a future point in time (tZ) when the vehicle moves closer to the target trajectory (TS) on the basis of the generated manipulated variables (GA10, GB10, GL10), wherein the undesirable driving state (Z1u) is determined from the predetermined target trajectory (TS) based on the geometric trajectory variables (kG) (STS2, STS3, STS4, STS5); and - if the presence of the undesirable driving state (Z1u) is identified for a future point in time (tZ), -- controlling the vehicle in an automated manner (ST5) based on stability variables (GA21, GA23, GB21, GB23, GBL, GL21, GLK) generated in the control unit , and/or -- adjusting the received target trajectory (TS) (STS5). -- controlling the vehicle in an automated manner (ST5) based on stability variables (GA21, GA23, GB21, GB23, GBL, GL21, GLK) generated in the control unit , and/or -- adjusting the received target trajectory (TS) (STS5). <EOS>