METHOD OF CONTROLLING VEHICLE AND APPARATUS FOR CONTROLLING VEHICLE

The invention discloses a method of controlling a vehicle and an apparatus for controlling the vehicle. The method comprises the following steps: determining a first control sequence, determining a second control sequence for controlling said vehicle or robot depending on said first control sequence, a current state of said vehicle or robot, and on a model characterizing a dynamic behavior of saidvehicle or robot, controlling said vehicle or robot depending on said second control sequence, wherein said determining of said first control sequence is performed depending on a first candidate control sequence and a second candidate control sequence. 控制载具的方法和用于控制载具的装置。一种控制载具或机器人的方法，其中所述方法包括以下步骤：确定第一控制序列，取决于所述第一控制序列、所述载具或机器人的当前状态以及对所述载具或机器人的动态行为进行表征的模型来确定用于控制所述载具或机器人的第二控制序列，取决于所述第二控制序列来控制所述载具或机器人，其中所述第一控制序列的所述确定取决于第一候选控制序列和第二候选控制序列来被执行。