METHOD, AND SYSTEM, AND NON-TRANSITORY COMPUTER READABLE MEDIUM FOR LATERAL CONTROL OF A VEHICLE

A computer implemented method for lateral control of a vehicle comprises the following steps carried out by computer hardware components: determining a location error of the vehicle; determining an orientation error of the vehicle; determining a cost function based on the location error and the orientation error using a circular transformation; and processing the cost function in a model predictive controller to control the vehicle laterally.