Vehicle steering control with MPC for target trajectory tracking of autonomous reverse parking

In this paper, vehicle steering control following target trajectory by MPC (Model Predictive Control) is proposed. First, vehicle turning characteristic is modeled. Here, the model is mainly composed of vehicle rotation model and steering model. Next, MPC controller is derived from quadratic cost function. This controller instructs vehicle rotation radius directly translated into steering angle. It minimizes difference of the position between target trajectory and the predicted when their moving directions are equal. And finally the controller is verified with simulation.