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Model predictive control (MPC) is widely used in the motion control of autonomous vehicles. However, the conventional MPC relies on an accurate model and cannot achieve offset-free tracking in steady-state when the autonomous vehicle encounters external disturbance and parameter perturbation. Based on our recently designed C++ offset-free MPC (OF-MPC) solver, this paper uses MPC to solve the longitudinal and lateral coupling control problem directly. In the modeling stage, the constraints of the tire friction circle are approximated by the polygon. And then the polygon constraints are mapped into the state and control space. Finally, the tire friction circle constraints are approximated as convex linear inequality constraints, which are used as the vehicle stability boundary condition. Meanwhile, a convex optimization method is used to solve the reference value problem of MPC, and a systematic method that …