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Abstract
Vehicle autonomous driving is being extensively studied in the development of science and technology around the world. The article proposes an application of MPC (Model Predictive Control) in motion control of a vehicle's centre of gravity when moving with constant longitudinal speed by following a given trajectory. The given control algorithm can be used as the basis for the development of a vehicle autonomous steering system. The MPC controller's functionality was evaluated by deviation of the actual motion trajectory from the given trajectory while keeping the vehicle's longitudinal velocity constant. A vehicle rotational dynamics model was built to calculate the motion errors. The effects of longitudinal speed on trajectory lateral error when the vehicle changes lanes, turn perpendicular.