Trajectory planning and tracking control method for dynamic obstacle avoidance of autonomous vehicle

The invention provides a trajectory planning and tracking control method for dynamic obstacle avoidance of an autonomous vehicle. The method comprises the following steps: constructing a vehicle trajectory prediction model; constructing an obstacle prediction range model; constructing an obstacle risk function model; determining an initial obstacle avoidance trajectory of the autonomous vehicle in a prediction time domain based on a Sigmoid type function, then optimizing the initial obstacle avoidance trajectory according to an obstacle risk function model, and then obtaining a safe obstacle avoidance path about the autonomous vehicle in combination with a vehicle trajectory prediction model and an obstacle prediction range model; a multi-constraint NMPC controller is adopted to control the autonomous vehicle to perform safe obstacle avoidance; the method has the following beneficial effects that the safe obstacle avoidance path of the autonomous vehicle can be calculated according to different types of obsta