中文摘要：

传统的控制方法不适合求解汽车转向换道操纵过程的多约束问题，为此，文中将模型预测控制（MPC ）方法用于求解汽车换道操纵逆动力学问题，以驾驶员对汽车施加的转角输入为控制变量，以最佳轨迹完成障碍物转向避让过程为控制目标，将最优控制问题转化为二次规划问题，并利用有效集法求解。计算结果表明，文中提出的模型预测控制方法在求解复杂和多约束的车辆运行轨迹的最佳转向输入问题时具有潜在的优势，可以成功求解汽车换道操纵逆动力学问题。

英文摘要：

As the traditional control methods are infeasible in dealing with multiple constraints in the lane-change steering maneuver process,the model predictive control （MPC）method is adopted to solve the inverse dynamics for lane-change steering maneuver.In the investigation,the steering angle input is used as the control variable,the optimal trajectory to complete the collision avoidance process of lane-change steering maneuver is taken as the con-trol objective,and the optimal control problem is converted into a quadratic programming problem,which is then solved via the active set method.Simulated results show that the proposed method based on MPC is of potential ad-vantage for calculating the optimal steering input of vehicle trajectory with heavy computational complexity and mul-tiple constraints,and that it is effective in solving the inverse dynamics for the lane-change steering maneuver.