Method and system for controlling the lateral lane position of an automotive vehicle

The invention relates to a method and system for controlling the lateral lane position of a vehicle. A geometric model of a reference lateral path from an actual to a desired lateral lane position is provided. These steps are then performed for each control time point: determining a control error by comparing a reference lateral position, velocity and acceleration provided from the geometric model with an actual lateral position, velocity and acceleration; calculating a reference feedback steering angle based on the control error; calculating a total reference lateral acceleration by adding the reference lateral acceleration from the geometric model and a road-based reference lateral acceleration; calculating a reference feedforward steering angle by applying a model of the inverse vehicle dynamics on the total reference lateral acceleration; determining a steering angle error by comparing the actual steering angle with added reference feedforward and feedback steering angles, and providing a steering signal based on the steering angle error to a steering system (8).