Collision avoidance control integrated with electric power steering controller and rear steer

• US 9,573,623 B2
• Filed: 01/08/2015
• Issued: 02/21/2017
• Est. Priority Date: 01/08/2015
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Moshchuk, Nikolai K., Chen, Shih-Ken, Zagorski, Chad T.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US14/592,432
• Publication Number:
  US 20160200360A1
• Time in Patent Office: 775 Days
• Field of Search: 701/25, 701/31.4, 701/41, 701/80, 701/301, 701/408, 701/2, 701/26, 701/400, 703/2, 244/165, 382/154, 707/102
• US Class Current: 1/1
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A method of providing automatic collision avoidance in a vehicle with a front wheel electric power steering (EPS) system and rear wheel active rear steering (ARS) system and an automatic collision avoidance system are described. The method includes generating a vehicle math model including the control variables, designing a steering control goal as a criterion to determine the control variables, and implementing a model predictive control to solve the steering control goal and determine the control variables. The method also includes providing the control variables to the EPS system and the ARS system to respectively control a front actuator associated with front wheels and a rear actuator associated with rear wheels.

Claims

1. A method of providing automatic collision avoidance in a vehicle with a front wheel electric power steering (EPS) system and rear wheel active rear steering (ARS) system, the method comprising:

generating, using a processor, a vehicle math model including control variables;

designing a steering control goal as a criterion to determine the control variables;

implementing a model predictive control to solve the steering control goal and determine the control variables; and

providing the control variables to the EPS system and the ARS system to respectively control a front actuator associated with front wheels and a rear actuator associated with rear wheels, wherein the generating the vehicle math model includes generating a six-dimensional model with a one-track bicycle model for four dimensions of the six-dimensional model and a one degree-of-freedom steering column model for two dimensions of the six-dimensional model.

2. The method according to claim 1, wherein the providing the control variables includes providing a torque overlay command to the EPS system.

3. The method according to claim 2, wherein the generating the vehicle math model includes generating the one-track bicycle model to include a rear wheel angle as one of the control variables and a one degree-of-freedom steering column model to include an amount of torque overlay on the front wheels as another one of the control variables.

4. The method according to claim 1, wherein the designing the steering control goal includes determining a relative weighting between front wheel control and rear wheel control.

5. The method according to claim 1, wherein the implementing the model predictive control includes solving the steering control goal to determine the control variables that minimize a cost function that includes tuning parameters.

6. The method according to claim 5, further comprising selecting the tuning parameters based on a type of the front actuator and the rear actuator associated with different types of vehicles.

7. An automatic collision avoidance system in a vehicle with a front wheel electric power steering (EPS) system and active rear steering (ARS) system, the system comprising:

a memory device configured to store parameters corresponding with different types of front and rear actuators associated with different types of vehicles; and

a processor configured to generate a vehicle math model including control variables, design a steering control goal as a criterion to determine the control variables, implement a model predictive control to solve the steering control goal and determine the control variables, and provide the control variables to the EPS system and the ARS system to respectively control a front actuator associated with front wheels and a rear actuator associated with rear wheels, wherein

the processor generates the vehicle math model as a six-dimensional model with a one-track bicycle model for four dimensions of the six-dimensional model and a one degree-of-freedom steering column model for two dimensions of the six-dimensional model, and

the processor selects tuning parameters among the stored parameters in the memory device corresponding with the front actuator and the rear actuator of the type of the vehicle to design and to solve the steering control goal.

8. The system according to claim 7, wherein the processor provides the control variables associated with torque overlay to the EPS system.

9. The system according to claim 8, wherein the processor generates the one-track bicycle model to include a rear wheel angle as one of the control variables and the one degree-of-freedom steering column model to include an amount of torque overlay on front wheels as another one of the control variables.

10. The system according to claim 7, wherein the processor designs and solves the steering control goal to determine a relative weighting between front wheel control and rear wheel control in the control variables.

11. The system according to claim 7, wherein the processor solves the steering control goal to determine the control variables that minimize a cost function that includes the tuning parameters.

12. The system according to claim 7, wherein the vehicle is an automobile.

13. The system according to claim 7, wherein the vehicle is a robot.

14. The system according to claim 7, wherein the vehicle is a construction vehicle.