Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence proposes an optimization-based automation routine to handle the path-planning and path-tracking control process of such type of maneuvers. The proposed approach utilizes nonlinear model predictive control (NMPC) to robustly guide the vehicle-trailer system into the desired parking space, and an optional forward repositioning maneuver can be added as an additional stage of the parking process to obtain better system configurations, before backward motion can be attempted again to get a good final pose. The novelty of the proposed approach is the simplicity of its formulation, as the path-planning and path-tracking operations are only conducted on the trailer being viewed as a standalone vehicle, before the control inputs are propagated to the tractor vehicle via inverse kinematic relationships also derived in this paper. Simulation case studies and hardware-in-the-loop tests are performed, and the results demonstrate the efficacy of the proposed approach.
@article{arxiv.2509.01820,
title = {Nonlinear Model Predictive Control-Based Reverse Path-Planning and Path-Tracking Control of a Vehicle with Trailer System},
author = {Xincheng Cao and Haochong Chen and Bilin Aksun-Guvenc and Levent Guvenc and Brian Link and Peter J Richmond and Dokyung Yim and Shihong Fan and John Harber},
journal= {arXiv preprint arXiv:2509.01820},
year = {2025}
}