METHOD FOR CONTROLLING A VEHICLE

The present subject matter relates to a method and a control device for controlling a vehicle and a vehicle including the control device. The method for controlling a vehicle 1 with at least one actor 12 - 16 and a control device 240 comprises the steps of obtaining a reference path 600 and at least one manipulated variable, predicting a vehicle path 710 and a vehicle motion for a predetermined prediction horizon 310 based on the at least one manipulated variable, optimizing the predicted vehicle path 710 and the predicted vehicle motion by varying the at least one manipulated variable considering at least one constraint on the vehicle motion C, and determining a maximum path error ε from a difference between the optimized predicted vehicle path 710 and the reference path 600 in the predetermined prediction horizon 310. If the maximum path error ε is smaller than a lane width constraint C on the reference path 600, at least one manipulated variable resulting from the optimized predicted vehicle path 710 and the optimized predicted vehicle motion is transmitted to the at least one actor 12 - 16 of the vehicle; while if the maximum path error ε is larger than the lane width constraint C on the reference path 600, the at least one constraint on the vehicle motion C is extended and the optimization of the predicted vehicle path 710 and the predicted vehicle motion is repeated using the at least one extended constraint on the vehicle motion C.