Method and apparatus for lane control of a vehicle

An apparatus (300) for controlling the lateral dynamics of a vehicle, the apparatus (300) comprising:

• a detection device (302), an output device (304) and a computing device (306), the detection device (302) being configured to detect or to determine a current course angle (α) of the vehicle, the output device (304) being configured to output a steering wheel angle (δ) with which the vehicle is controllable, and the computing device (306) being configured to define a desired course angle (αpsi) that is assigned to a first point (120) on a temporal profile of a desired driving line (110), the first point (120) being arranged on the desired driving line (110) at a distance of a first preview time (TPreviewYaw) from a location (116) assigned to an instantaneous vehicle position, and the computing device (306) being configured to determine a course angle deviation (αpsi−α) of the current course angle (α) from the desired course angle (αpsi) and to define a target angle (αta) that is assigned to a second point (124) on the temporal profile of the desired driving line (110), the second point (124) being arranged on the desired driving line (110) at a distance of a second preview time(TPreviewXY) from the location (116), and the computing device (306) being configured to determine the steering wheel angle (δ) in accordance with a sum total of the target angle (αta) amplified by a first parameter (Pta) and of the course angle deviation (αpsi−a) amplified by a second parameter (Ppsi), the first parameter and the second parameter being known information pertaining to vehicle performance.