A trajectory for a vehicle (10) is determined automatically, wherein the trajectory connects a starting point (SP), which corresponds to the current position of the vehicle (10), to a target point (ZP). In this context, the following steps are carried out: Determining multiple intermediate points (1.1-1.3, 2.1-2.3). Determining at least a first partial trajectory which connects the starting point(SP) to one of the intermediate points (1.1-1.3, 2.1-2.3). Determining multiple second partial trajectories which connect the target point (ZP) to one of the intermediate points (1.1-1.3, 2.1-2.3) ineach case. Determining the trajectory by selecting one of the at least one first partial trajectories and one of the second partial trajectories. Actuating at least one component (3) of the vehicle (10) on the basis of the determined trajectory. In this context, ending at least two partial trajectories at each intermediate point (1.1-1.3, 2.1-2.3).