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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
First Claim
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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.

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