Coordination of active front and rear steering and torque vectoring with advanced driver assistance systems

Abstract

A method comprises receiving a desired state from a path planner, wherein the desired state includes at least a first desired yaw rate and a first desired lateral velocity of the vehicle. The method further comprises determining, at least partially based on the first desired yaw rate and lateral velocity, a second desired yaw rate and lateral velocity of the vehicle by a path-tracking controller. The method further comprises determining, at least partially based on the second desired yaw rate and lateral velocity of an active tail-steer instruction and a torque vectoring instruction, by a vehicle motion controller.The procedure further includes controlling the vehicle using at least one of the active rear steering instruction and the torque vectoring instruction to cause the vehicle to follow a path generated by the path planner.

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