Device and method for controlling the longitudinal and/or lateral guidance of a vehicle

An electronic device for controlling longitudinal and/or lateral guidance of a vehicle, comprising:

• a trajectory planner configured to ascertain setpoint trajectory variables for a trajectory of the vehicle, wherein
• the setpoint trajectory variables comprise:
• a first trajectory state, and
• a second trajectory state, wherein the second trajectory state corresponds to a first time derivative in the first trajectory state over time;
• and
• a feed-forward controller configured to calculate a feed-forward control variable from the setpoint trajectory variables as a function of the first trajectory state and the second trajectory state, and from a model of dynamic behavior of the vehicle, wherein
• the feed-forward control variable and the first trajectory state are variables of the same type,
• the device is configured to use the feed-forward control variable as a basis for determining a manipulated variable for a controlled system within the scope of the longitudinal and/or lateral guidance,
• the manipulated variable and the feed-forward control variable are variables of the same type, and
• the device is configured to use the manipulated variable to control the longitudinal and/or lateral guidance of the vehicle.