  This study presents a new framework for vehicle motion planning and control
based on the automatic generation of model predictive controllers (MPCs) named
MPC Builder. In this framework, several components necessary for MPC, such as
prediction models, constraints, and cost functions, are prepared in advance.
The MPC Builder then generates various MPCs online in a unified manner
according to traffic situations. This scheme enabled us to represent various
driving tasks with less design effort than typical switched MPC systems. The
proposed framework was implemented considering the continuation/generalized
minimum residual (C/GMRES) method optimization solver, which can reduce
computational costs. Finally, numerical experiments on multiple driving
scenarios were presented.
