A method, apparatus and computer readable storage medium with instructions for motion planning for a motor vehicle

A method, apparatus and a computer readable storage medium with instructions for motion planning for a motor vehicle. In a first step the final states of motion of the motor vehicle in a discretized state space, starting from an initial state is determined (10). This is done using a model-based simulation of the movement of the motor vehicle in time progressive direction. By means of dynamic programming, the final states are then state within cells of the discretized state space is reduced (11). a movement for the vehicle is finally selected (12) based on the after reducing (11) the remaining end states.