Driver assistance for collision avoidance by constrained MPC

A driver 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 the turning performance and realize the collision avoidance simultaneously under the 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.