METHOD, COMPUTER PROGRAM, COMPUTER-READABLE STORAGE MEDIUM AND VEHICLE CONTROL SYSTEM FOR CALCULATING CONTROL VARIABLES OF A VEHICLE

A computer-implemented method for calculating control variables of a vehicle comprises providing a dynamical model comprising two state variables (β, r) representative of a lateral and longitudinal dynamics of the vehicle. Input control variables are acquired based on controls (scmd, bcmd , tcmd ) transmitted by a driver of the vehicle (220) through control members (221, 222), the input control variables comprising a steering angle (δ) and/or an angular velocity (ω). State variables (β, r) of the vehicle are acquired. Based on the input control variables and the state variables (β, r), an output control variable (δ, ω) representative of the controls of the vehicle is calculated using model predictive control (205) so as to minimize a cost function over a receding horizon using the input control variables (δ, ω) as an input target while satisfying constraints. The constraints include one driving envelope constraint setting an allowable range for a longitudinal and a lateral slip of a wheel of the vehicle.