COLLISION AVOIDANCE CONTROL INTEGRATED WITH ELECTRIC POWER STEERING CONTROLLER AND REAR STEER

摘要

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.

主权项

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.