This paper proposes a novel two-level model predictive control (MPC) speed control algorithm for autonomous vehicles as a successive convex optimization problem focused on both energy use and arrival time. Internal losses such as detailed motor/inverter efficiency and battery loss. as well as external losses. such as wind and grade. https://vewvznlyqn79pq.bloginwi.com/68598656/romanian-consumers-willingness-to-buy-foodstuffs-containing-food-additives-results-of-a-conjoint-study