Patent ID: 9573623
Date: 2017-02-21
CPC Classifications: B62D

Claim:
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.