A　trajectory　planning　method　based　on　Gaussian　regression　for　Model　Predictive　Control　is　proposed　to　address　the　safety　obstacle　avoidance　problem　of　tracked　vehicle　on　unstructured　roads.　The　proposed　method　takes　into　account　the　parameter　uncertainty　caused　by　different　road　conditions　and　slopes,　with　the　goal　of　ensuring　safe　obstacle　avoidance.　In　order　to　achieve　safe　obstacle　avoidance　in　imprecise　model　situations,　Gaussian　regression　process　is　used　to　learn　the　average　model　error　caused　by　time-varying　parameters,　and　variance　is　introduced　in　the　design　of　control　barrier　function.　The　characteristic　of　this　method　is　to　increase　constraints　on　the　control　barrier　area　to　ensure　safety.　Simulation　shows　that　the　designed　algorithm　can　achieve　safe　obstacle　avoidance　while　reaching　the　target　point.　©　2023　IEEE.