Obstacle avoidance using vehicular active rear steering

A system for obstacle collision avoidance using vehicular active rear steering, comprising:

• a vehicle configured with active rear steering, wherein a front steering angle of a vehicle is determined by a driver, the vehicle further configured to produce an associated rear steering angle of the vehicle;
• sensors located within the vehicle configured to detect a location of an obstacle;
• a processor configured to predict, based on the front steering angle of the vehicle and the associated rear steering angle of the vehicle, a path of the vehicle;
• the processor configured to predict, based on the path of the vehicle and the location of the obstacle, a collision between the vehicle and the obstacle;
• the processor configured to calculate, based on a location on the vehicle and a location of the obstacle, an adjusting front steering command and an adjusting rear steering command, to modify the path of the vehicle to avoid the predicted collision with the obstacle;
• and
• a front steering actuator configured to receive the adjusting front steering command;
• and
• a rear steering actuator configured to receive the adjusting rear steering command;
• and
• wherein the processor is further configured to generate a warning message if either the front steering command exceeds a threshold value of a front steering actuator constraint or the rear steering command exceeds a threshold value of a rear steering actuator constraint.

A method for obstacle collision avoidance using vehicular active rear steering comprising:

• determining a front steering angle of a vehicle applied by a driver and an associated rear steering angle of the vehicle, wherein the vehicle is configured with active rear steering;
• detecting, using sensors within the vehicle, a location of an obstacle;
• predicting, based on the front steering angle of the vehicle and the associated rear steering angle of the vehicle, a path of the vehicle;
• predicting, based on the path of the vehicle and the location of the obstacle, a collision between the vehicle and the obstacle;
• classifying a position of the predicted collision on the vehicle consisting of an inner edge of the vehicle, an outer front corner of the vehicle, or an outer rear corner of the vehicle;
• calculating, based on a location on the vehicle and a location of the obstacle, an adjusting front steering command and an adjusting rear steering command, to modify the path of the vehicle to avoid the predicted collision with the obstacle;
• comparing the adjusting front steering command with a front steering actuator constraint and the adjusting rear steering command with a rear steering actuator constraint;
• displaying the predicted path of the vehicle with the obstacle;
• sending the adjusting front steering command to a front steering actuator and the adjusting rear steering command to a rear steering actuator;
• displaying a modified the path of the vehicle to avoid the predicted collision with the obstacle;
• generating a warning message if either the front steering command exceeds a threshold value of the front steering actuator constraint or the rear steering command exceeds a threshold value of the rear steering actuator constraint;
• and
• detecting, using the sensors within the vehicle, a location of a second obstacle and determining a possible collision between the vehicle and the second obstacle based on the modified path of the vehicle.