How to improve the velocity tracking accuracy is a core and difficult problem in autonomous driving, especially while some core parameters of the controlled vehicle cannot be measured or obtained accurately enough. Without employing a complex longitudinal dynamic model and some difficultly obtained engine parameters, a numerical reasonable model is established based on the off-line data of the vehicle motion. And based on this model, a feed-forward and feedback control scheme is presented and a parameter-varying controller with high robustness is designed. To verify the tracking performance, the electric vehicle model in Matlab2018b is used in the simulating process and results conclude that the new control strategy is very effective. INDEX TERMS Velocity tracking, numerical reasonable model, autonomous vehicle.