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In this paper, we develop a unified trajectory planning and tracking control framework for autonomous overtaking in structured roads. The framework consists of two individual MPC to optimize the lateral and longitudinal motion in two successive steps. The lateral MPC use the vehicle kinematic model in Frenét coordinate frame as prediction model, which is expert in describing motion in curved roads over kinematic model in Cartesian. By reformulating the MPC as a quadratic program (QP) problem, the lateral planning controller calculates the optimal steering angle control command to manage lane keeping and lane changing behaviors. Then the longitudinal planning controller will choose the mode of speed keeping or target following in accordance with the lateral result and generate the safety corridor based on ST-Graph for collision avoidance. Eventually the optimal acceleration will be given by longitudinal …