Abstract: Aiming at improving the control stability problem of the MPC algorithm for logistics vehicles in horizontal and vertical hard real-time control, taking a certain vehicle model of an enterprise as the research object, a horizontal and vertical control simulation model based on the enumeration search optimization method was established by using the vehicle dynamics simulation software Trucksim. Taking the lateral deviation of the lane centerline and the longitudinal safety distance deviation as the main optimization objectives, the discretized target steering wheel Angle and longitudinal target time are obtained by using the enumeration search optimization method. The analysis and evaluation are conducted through the horizontal and vertical cost functions to select the optimal target rotation Angle and vertical acceleration. LKA and ACC simulation experiments were conducted on logistics vehicles for emergency working condition scenarios (with a hard real-time time step of 0.00 1 s for both). When the MPC algorithm is applied to deviate from the lane under the condition of high road curvature, the relative distance with the vehicle in front stabilizes at about 80 m after 78 s. The lateral deviation of the application of the enumeration search optimization method is stable within ±0.20 m, and the relative distance to the vehicle in front is stable at about 13 m after 25 s. The simulation results of the enumeration optimization method comply with the standard and specification requirements of the assisted driving function, and effectively improve the problem that the control stability of the MPC algorithm is difficult to guarantee under hard real-time conditions.