Multi-dimensional MPC motion planning method and system based on four-wheel differential model

The invention provides a multi-dimensional MPC motion planning method and system based on a four-wheel differential model. In each control period, the following steps are executed: S1, the expected linear speed of each path point on a reference line is calculated, and the reference line comprises an expected position coordinate and an expected course angle; s2, predicting a prediction trajectory in a future time T; s3, solving the target optimization function by using the predicted trajectory to obtain a control sequence, selecting a first element of the control sequence as a control quantity of a next control period, and inputting the control quantity into a motion control system of the moving target; elements of the control sequence comprise linear acceleration and angular velocity, and the target optimization function is used for realizing minimum sum of transverse error, course error, linear velocity error, angular velocity and linear angular velocity in future time T. The requirement for an upstream modu