Abstract: Technologies and techniques for the lateral control of a vehicle. Environment data of a vehicle is detected when travelling a route, and stored environment data, detected when travelling the route by a plurality of other vehicles not currently travelling the route, is received. The plausibility of the stored environment data is checked on the basis of the environment data detected. Lateral control of the vehicle is executed on the basis of the environment data checked for plausibility. The present disclosure also relates to an arrangement for the lateral control of a vehicle.

Abstract: A method for determining a driver's manual torque at a steering wheel of a vehicle which includes sensing a steering angle speed by a steering angle sensor, sensing a steering torque by a steering torque sensor at a steering column connected to the steering wheel, estimating a driver's manual torque applied by a driver at the steering wheel based on the sensed steering angle speed and the sensed steering torque by a Kalman filter by a controller, wherein during the estimation of the driver's manual torque a frictional torque is considered, and the frictional torque is estimated based on the steering torque which is sensed by the steering torque sensor, wherein the estimated frictional torque is taken into account as an interference factor during the estimation of the driver's manual torque in the Kalman filter. Also disclosed is an associated device.

Abstract: A method for determining a driver's manual torque at a steering wheel of a vehicle which includes sensing a steering angle speed by a steering angle sensor, sensing a steering torque by a steering torque sensor at a steering column connected to the steering wheel, estimating a driver's manual torque applied by a driver at the steering wheel based on the sensed steering angle speed and the sensed steering torque by a Kalman filter by a controller, wherein during the estimation of the driver's manual torque a frictional torque is considered, and the frictional torque is estimated based on the steering torque which is sensed by the steering torque sensor, wherein the estimated frictional torque is taken into account as an interference factor during the estimation of the driver's manual torque in the Kalman filter. Also disclosed is an associated device.