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In order to improve the adaptability of the lane keeping control system to complex environments, a dynamic lane tracking control strategy of the commercial vehicle based on the robust model predictive control (RMPC) algorithm is proposed considering the state of the preceding vehicle. An RMPC controller is designed with path deviation and control increment as the objective function. The model predictive control problem is transformed into a min–max optimization problem. The linear matrix inequality (LMI) is used for the optimal solution to obtain the optimal control quantity. The strategy to improve the safety and comfort dynamically in the process of lane keeping is designed by adjusting the weight coefficient matrix of RMPC based on fuzzy theory. The results of the simulation and HiL test show that the RMPC controller can meet the requirement of adjusting the lane tracking process dynamically according to the state of the preceding vehicle, which keeps the balance between safety and comfort.