This Master's Thesis work takes inspiration from the Bosch Future Mobility Challenge 2022, a challenge organized by the Bosch Engineering Center Cluj and concerns the development of algorithms for the autonomous driving on a 1:10 scale vehicle model. The goal of this document is to present the development of control strategies based on a Nonlinear Model Predictive Control (NMPC) for Perpendicular Autonomous Parking manoeuvres: - Perpendicular Parking using a Nonlinear Model Predictive Controller - Perpendicular Parking using a Multistage NMPC. - Perpendicular Parking using a NMPC with Trajectory Planning performed via an RRT* algorithm. The algorithms are re-elaborated from those provided by The MathWorks, Inc. in the case of Parallel Autonomous Parking.