The invention relates to a method for supporting a maneuver planning of an at least partially autonomous vehicle or robot, in which a state space is described by means of a Markov decision problem, an optimal action is determined on the basis of discrete states in the state space by performing at least one optimization method on the basis of the Markov decision problem, a mapping having the state in the state space as an input value and the optimal action in the state space as an output value is determined, the determined mapping being approximated by functional approximation, wherein elements of an approximated mapping, the output values of which have an error exceeding a predetermined error threshold value with respect to the respective output values of the determined mapping, are stored in a lookup table as a function of the respective associated input values, and the approximated mapping and the lookup table are provided for the maneuver planning. The invention also relates to a device, a control device and a vehicle or robot.
METHOD AND DEVICE FOR SUPPORTING A MOTOR MOVEMENT PLANNING OF A VEHICLE OR ROBOT