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In this paper, we propose a path following Model Predictive Control-based (MPC) scheme utilising steering and braking. The control objective is to track a desired path for obstacle avoidance manoeuvre, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [F. Borrelli, et al., MPC-based approach to active steering for autonomous vehicle systems, Int. J. Veh. Autonomous Syst. 3(2/3/4) (2005), pp. 265–291.] and [P. Falcone, et al., Predictive active steering control for autonomous vehicle systems, IEEE Trans. Control Syst. Technol. 15(3) (2007), pp. 566–580.]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth-order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational …