Thelongitudinalcontrolofanautonomousvehicleusuallysuffersfromlateralinterruptions,suchasthecuttingin/outoftheleadvehicle,deterioratingitsperformanceandevenendangeringdrivingsafety.Toaddressthisproblem,wepresentamodelpredictive-basedapproachforlongitudinalcontrolinautonomousdrivingbytakin