Abstract: Model-based predictive control (MPC) of a motor vehicle involves an MPC algorithm, which comprises a high level solver module to calculate a high level longitudinal trajectory for an upcoming route segment, according to which the motor vehicle is to travel within a route-based high level prediction horizon. The high level longitudinal trajectory is sent to a tracker solver module in the MPC algorithm as an input value, which calculates a tracker longitudinal trajectory on the basis of the high level longitudinal trajectory, according to which the motor vehicle is to travel within the time-based tracker prediction horizon, wherein the tracker prediction horizon is shorter than the high level prediction horizon, such that the tracker prediction horizon only covers a portion of the high level prediction horizon.