METHOD AND APPARATUS FOR LANE CONTROL OF A VEHICLE

Apparatus for controlling dynamics of a vehicle determines a current course angle (α) of the vehicle. A desired course angle (α) is defined and assigned to a first point on a temporal profile of a desired driving line. The first point is on the desired driving line at a first preview time from a location assigned to an instantaneous vehicle position. A course angle deviation of the current course angle (α) from the desired course angle (α) is determined. A target angle (α) is defined and assigned to a second point on the temporal profile of the desired driving line. The second point is on the desired driving line at a distance of a second preview time from the location. A steering wheel angle (δ) is determined as a total of the target angle (α) reinforced with a first parameter and the course angle deviation reinforced with a second parameter.