The resulting trajectory is then followed by an experimentally validated Carsim model controlled by an MPC.

Yes, that's correct. The trajectory generated by the proposed method is then used as a reference trajectory for an experimentally validated Carsim model. The Carsim model is controlled by a Model Predictive Controller (MPC) to track the reference trajectory. The MPC takes into account the dynamics of the vehicle and the constraints on the control inputs to generate control commands that minimize the tracking error while satisfying the constraints. The performance of the proposed method is evaluated through several experiments in different scenarios, including straight