Control device, drive train and method

A control device (1) for a vehicle having at least two drive units (2-1, 2-2), the control device comprising:

• an interface (3) configured to record a target torque (4), and
• a computer device (5) configured to cyclically minimize an evaluation function (6) for the operation of the at least two drive units (2-1, 2-2), in order to determine a torque distribution (11) between the at least two drive units (2-1, 2-2), wherein a boundary condition (7) of the evaluation function (6) is the target torque (4), and actuate the at least two drive units (2-1, 2-2) according to the determined torque distribution (11),
• wherein the evaluation function (6) has a penalty term (8) which indicates a change in the torque of one of the at least two drive units (2-1, 2-2) with an evaluation penalty, and
• wherein the penalty term (8) has the absolute value of a difference between a torque calculated for one of the drive units (2-1, 2-2) in a current calculation cycle and a torque calculated for the respective drive unit (2-1, 2-2) in a preceding calculation cycle or wherein the penalty term (8) has the square of a difference between a torque calculated for one of the drive units (2-1, 2-2) in a current calculation cycle and a torque calculated for the respective drive unit (2-1, 2-2) in a preceding calculation cycle.