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In this paper a self-developed controller algorithm is presented with thegoal of handling a basic parking maneuver. One of the biggest challenges ofautonomous vehicle control is the right calibration and finding the rightvehicle models for the given conditions. As a result of many other research,model predictive control (MPC) structures have started to become the mostpromising control technique. During our work we implemented an MPC functionfrom white paper. Considering the low-speed conditions of a parking maneuver weuse a kinematic bicycle model as the basis of the controller. The algorithm hastwo main inputs: a planned trajectory and the vehicle state feedback signals.The controller is realized as a Simulink model, and it is integrated into acomplete autonomous control system using ROS framework. The results arevalidated through multiple steps: using Simulink only with a pure kinematicbicycle plant model; using LGSVL simulation framework containing a real vehiclemodel and the entire software chain; the controller is prepared for realvehicle tests.

Implementation of a self-developed model predictive control scheme for vehicle parking maneuvers