Abstract: To solve the problem of intelligent vehicle dynamic obstacle avoidance path prediction and tracking, dynamic obstacles are modeled and obstacle avoidance constraints are introduced based on the triangle area method, cost functions are designed to meet the optimal predicted trajectory output, and a nonlinear model predictive controller (NMPC) that introduces rollover constraints is designed to track the online optimal path. The Matlab performs the obstacle avoidance trajectory prediction and tracking control simulation under the structured road. The simulation test shows that the control vehicle can change lanes and reach the designated target point when meeting the obstacle avoidance constraint, and the jerk value is small and has good comfort. The test results show that the predicted trajectory is ideal, the controller has high accuracy and certain robustness.

Key words: Intelligent vehicle; NMPC; Dynamic obstacle avoidance; Trajectory prediction; Tracking control

摘要： 为解决智能车辆动态避障路径预测及跟踪问题，文章对动态障碍进行建模并基于三角 形面积法引入避障约束，设计代价函数以满足最优预测轨迹输出，同时设计引入侧翻约束的 非线性模型预测控制器进行在线最优路径跟踪。通过 Matlab 进行基于结构化道路下的避障轨 迹预测与跟踪控制仿真，仿真试验得出控制车辆在满足避障约束等条件下，可以实现换道超 车并到达指定目标点，且加速度变化率（jerk）值小舒适性好。试验结果表明，预测轨迹理想、 控制器准确性高且具有一定的鲁棒性。

关键词: 智能车辆；非线性模型预测控制器；动态避障；轨迹预测；跟踪控制