Device and method for controlling longitudinal and/or transverse guidance of vehicle

The invention relates to a device for controlling longitudinal and/or lateral guidance of a vehicle (FZG), said device comprising: a trajectory planner (TPL) which is configured to ascertain a target trajectory variable of a trajectory of the vehicle (FZG), said target trajectory variable comprising at least a first trajectory state and a second trajectory state, wherein the second trajectory state corresponds to a temporal change of the first trajectory state; and a pre-controller (VS) configured to calculate a pre-control variable as a function of the target trajectory variable and a model of the dynamic behavior of the vehicle (FZG), where the pre-control variable and the first trajectory state are variables of the same type. Here, the device is configured to determine an adjustment variable of the controlled object in the longitudinal and/or lateral guidance range from the pre-control variable, the adjustment variable and the pre-control variable being variables of the same type. 本发明涉及用于控制车辆(FZG)的纵向和/或横向引