Apparatus and method for lateral control of a host vehicle during travel in a vehicle platoon

Embodiments herein relate to an apparatus and method for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus comprises: means for acquiring a control signal u and a lateral error µ relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon; filter means (F 1 ) for filtering the received lateral error µ; filter means (F 2 ) for filtering the received control signal u; and controller means (C) for executing a control algorithm for actuating lateral control of the host vehicle (F).