Trajectory tracking control for autonomous parking using reduced-horizon model predictive control

In this paper, a reduced-horizon model predictive control strategy is proposed for autonomous parking. Given the planned trajectory, the linear time varying model is obtained by discretizing and linearizing along the reference trajectory. Then the linear time varying model is represented in an incremental form. A standard quadratic programming problem is formulated which can be solved online. The joint simulation in Simulink and CarSim in three parking scenarios shows the effectiveness of the proposed method.