Autonomous ground vehicles, as an important part of intelligent transportation system, are attracting more attention than ever before. Their control system usually consists of three modules: environment perception, planning and decision-making, and vehicle control. Vehicle control is one of the most critical part of the whole architecture, as it is responsible for the vehicle guidance considering both safety and comfort. In general, control can be divided into lateral control and longitudinal velocity control. Their inter coordination leads to autonomous vehicle motion. This thesis is focused on the development of a combined lateral and longitudinal controller for autonomous driving based on Model Predictive Control (MPC).