The behavior of vehicle obstacle avoidance in complicated road conditions will conflict with the behavior of obstacle avoidance. An algorithm for vehicle obstacle avoidance control based on MPC is proposed.Firstly

the vehicle is modeled by dynamics

and the tire nonlinear model is added

and then the discrete system is linearized. Integrate path tracking

vehicle stability

and avoidance obstacles

and coordinate behavioral conflicts by setting their priorities. Finally

the performance of the algorithm is verified by MATLAB simulation

and the feasibility of the algorithm dealing with complex road conditions is simulated using CarSim/MATLAB. Simulation results show that the control algorithm can coordinate the behavior conflict between stability and obstacle avoidance during the obstacle avoidance process

and can accurately represent the obstacle avoidance path of the vehicle

providing an important basis for the development of driverless and optimization of intelligent vehicle systems.