A Hierarchical Control Framework for Drift Maneuvering of Autonomous Vehicles
Bo Yang,Yiwen Lu,Xu Yang,Yilin Mo,Bo Yang,Yiwen Lu,Xu Yang,Yilin Mo
Maneuvering an autonomous vehicle under drift condition is critical to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow, which is a challenging control problem due to the presence of significant sideslip and nearly full saturation of the tires. In this paper, we focus on the control of drift maneuvers of autonomous vehicle to...
