MPC-Based Autonomous Drive Function of a Motor Vehicle

A processor unit is configured for determining target torque values (), which lie within a prediction horizon (), and target speed values (), which lie within the prediction horizon (), by executing an MPC algorithm, which includes a longitudinal dynamics model of a drive train of the motor vehicle. An autonomous driving function of the motor vehicle is carried out in a torque specification operating mode or in a speed specification operating mode as a function of the level of the target torque values (). In the torque specification operating mode, a prime mover of the drive train is controlled by an open-loop system based on the target torque values (). In the speed specification operating mode, a speed governor of the drive train is controlled by an open-loop system based on the target speed values ().