关键词: 路径规划, 路径跟踪控制, B 样条曲线, 微分平坦, 模型预测控制

Abstract: An efficient path planning algorithm based on B-spline curve and a high-precision path tracking control strategy based on model predictive control method for emergency lane change and obstacle avoidance of vehicles were proposed，aiming at the problem of path planning and tracking control for emergency lane change and obstacle avoidance． Firstly，the B-spline curve-based differential flat output parameterization method was used to transform the problem of path planning for emergency lane change and obstacle avoidance of vehicles into the nonlinear pro-gramming problem of the control points of B-spline curve，and the interior point method was used to solve the non-linear programming problem to obtain the optimal path for emergency lane change and obstacle avoidance of vehi-cles． To execute the optimal path，a linear prediction model was established based on vehicle kinematics and dy-namics model，and a path tracking control strategy for emergency lane change and obstacle avoidance of vehicles，which can effectively deal with the constraints of the front wheel steering angle and the front wheel steering angle speed，was derived based on model predictive control method． Finally，the feasibility and effectiveness of the pro-posed path planning algorithm and path tracking control strategy for emergency lane change and obstacle avoidance of vehicles were verified by the vehicle dynamics software，and the simulation results show that the proposed method can guide the vehicle to avoid the obstacle safely，quickly and stably．

Key words: path planning, path tracking control, B-spline curve, differential flat, model predictive control