Integrated collision avoidance control with EPS controller

A system and method for generating an overlay torque command for an electric motor in an EPS system for use in a collision avoidance system. The method utilizes a model predictive control, which employs a six-dimensional vehicle movement model included therein a single-track linear bicycle model and a steering column with a degree of freedom model to simulate the vehicle steering. The method determines a target steering control, which defines a Wegverfolgungsfehler between the current vehicle path and the desired vehicle path by a cost function that includes an optimal total steering torque command. The MPC determines the optimum total steering torque command in order to minimize the path errors, and then uses the operator input torque, the EPS assist torque and the entire steering torque command to determine the overlay torque command.