System for estimating a trajectory of a vehicle , comprising: vehicle state sensors detecting a state of movement of the vehicle , environment sensors monitoring an environment of the vehicle , a free space module which determines a free space corridor based on the detected state of movement of the vehicle and based on the monitored environment of the vehicle , a goal point determination module which determines at least one goal point for the trajectory to be estimated based on the free space corridor , a trajectory planning module which estimates a reference trajectory based on the at least one goal point and which calculates a deviation between an actual trajectory and the reference trajectory of the vehicle , and a trajectory control module which minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and which outputs optimal control parameters for the movement of the vehicle based on the minimized deviation, characterized in that the goal point determination module determines a primary goal point based on a maximum range of perception capability of the environment sensors and at least one backup goal point based on a reduced range being smaller than the maximum range of perception capability, the trajectory planning module estimates the reference trajectory based on the primary goal point and checks the reference trajectory with respect to dynamic constraints and to constraints related to the free space corridor , and the trajectory planning module estimates a revised reference trajectory based on the backup goal point if the reference trajectory being estimated based on the primary goal point violates the dynamic constraints or the constraints related to the free space corridor . vehicle state sensors detecting a state of movement of the vehicle , environment sensors monitoring an environment of the vehicle , a free space module which determines a free space corridor based on the detected state of movement of the vehicle and based on the monitored environment of the vehicle , a goal point determination module which determines at least one goal point for the trajectory to be estimated based on the free space corridor , a trajectory planning module which estimates a reference trajectory based on the at least one goal point and which calculates a deviation between an actual trajectory and the reference trajectory of the vehicle , and a trajectory control module which minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and which outputs optimal control parameters for the movement of the vehicle based on the minimized deviation, characterized in that the goal point determination module determines a primary goal point based on a maximum range of perception capability of the environment sensors and at least one backup goal point based on a reduced range being smaller than the maximum range of perception capability, the trajectory planning module estimates the reference trajectory based on the primary goal point and checks the reference trajectory with respect to dynamic constraints and to constraints related to the free space corridor , and the trajectory planning module estimates a revised reference trajectory based on the backup goal point if the reference trajectory being estimated based on the primary goal point violates the dynamic constraints or the constraints related to the free space corridor . <EOS>