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First, a steering inverse dynamics model is established and then the inverse dynamics problem is converted into an optimal control problem. Second, by applying the hp-adaptive Radau pseudospectral method, the optimal control problem is converted into a nonlinear programming problem, which is then solved through sequential quadratic programming. Besides, two contrast verifications are carried out to validate the correctness and advantages of the proposed method. The simulation results show that the obtained control input satisfies the vehicle dynamic constraints. And comparing with Gauss Pseudospectral Method (GPM), hp-adaptive Radau pseudospectral method has higher computational accuracy and computational efficiency when solving non-smooth problem. The study of optimal steering input can provide guidance for driver\u2019s lane changing behavior, so that the accident rate caused by human factors can be decreased. 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