Abstract: In this paper, trajectory planning for autonomous vehicle is investigated based on the model prediction control to plan a safe, comfortable and efficient driving path. Firstly, an expanded safe zone of the three circles is proposed to simplify the planning environment. Secondly, the process of trajectory planning is decoupled into lateral planning and longitudinal planning. The model prediction method is utilized in lateral planning to generate a series of candidate trajectories. In addition, the dynamic programming algorithm of unequal distance scattering points is used in longitudinal planning, which significantly improves the planning efficiency. Finally, the cost functions of path planning and speed planning are proposed to find the optimal driving path and speed in the current environment. The collision detection link is increased, which guarantees the absolute safety of trajectories. Simulation results show that the proposed approach is able to generate satisfactory lane change trajectories for automatic lane change maneuvering.