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In dieser Arbeit wird die Trajektorienplanung für ein automatisiertes Fahrsystem behandelt. Es werden sowohl kontinuierliche, lokal konvergierende, als auch diskrete, global optimale Verfahren beschrieben. Es wird analytisch und im Experiment gezeigt, dass beide Ansätze für das automatisierte Fahren geeignet sind, wobei jeweils unterschiedliche Fahrsituationen abgedeckt werden. This work describes trajectory planning for autonomous driving. It treats continuous methods, which converge to a local optimum, as well as combinatorial methods, which are globally optimal. It is shown by analysis...