A method and control unit for controlling a vehicle for transfer from an autonomous driving mode

It is a method for controlling a vehicle having an autonomous driving function described. Before termination of the autonomous driving function, a takeover request to the manual acquisition by a driver of the vehicle is generated, wherein the takeover request can be carried out by the driver in an acquisition period. The method includes determining an initial state of the vehicle at an initial time point of the acquisition period. Furthermore, the method comprises determining a desired final state of the vehicle to an end time point of the acquisition period, wherein a driving speed of the vehicle is smaller in the desired final state than or equal to a predefined speed threshold. In addition, the method includes determining a desired trajectory which transfers the vehicle during the acquisition period from the initial state to the desired final state.