A Driving Assist System for Path Tracking via Active Rear-wheel Steering

In this paper, we propose a framework for shared control to assist driving by using an active rear-wheel steering system. In this framework, the active rear-wheel steering is used to correct improper operation and improve driving performance on path tracking for the driver. An adaptive model-predictive control (AMPC) method is adopted to balance the tracking performance and the influence of unnecessary intervention from the controller. We describe the solution of the rear wheel angle as an optimization problem in a moving horizon, which enables the rear-wheel system to provide timely help without excessive intervention.