Compared with the traditional non independent steering chassis, the chassis with four-wheel independent drive steering has higher response speed and flexibility, which is more in line with the development direction of unmanned vehicles in the future. Aiming on controlling four-wheel independent drive unmanned vehicle, kinematic analysis is made in three steering modes with steering angles considered as the control inputs. With the system state space model developed and the cost function and constraint conditions of the system designed, the steering controller based on MPC is established. Simulation experiment using Simulink & Carsim shows that the controller can track the given trajectory quickly and accurately for different control schemes at different vehicle speeds, and has good adaptability and robustness while giving full play to the mobility of four-wheel drive independent steering. It provides fundamental base for the further research.