Abstract: The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented. First, a vehicle dynamic model considering the road bank angle was developed. And then a zero-moment-point based rollover constraint was derived. Taking these vehicle dynamics and safety constraints into account, a model predictive based intelligent vehicle trajectory tracking controller was designed. Simulation results show that the proposed method can effectively adapt to the complex off-road terrains, ensuring collision-free trajectories while preventing rollover hazard.