Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC

Abstract

A driver steering assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize turning performance and realize collision avoidance simultaneously under magnitude constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for tracking a time-varying reference signal. The proposed control algorithm is reduced to a convex quadratic programming problem. The effectiveness of the proposed method is shown by human-in-the-loop simulations.