Combined Fast Control of Drifting State and Trajectory Tracking for Autonomous Vehicles Based on MPC Controller
Cheng Hu,Xiaoling Zhou,Ran Duo,Haokun Xiong,Yu Qi,Zhiming Zhang,Lei Xie,Cheng Hu,Xiaoling Zhou,Ran Duo,Haokun Xiong,Yu Qi,Zhiming Zhang,Lei Xie
Slipping may cause a vehicle out of control with serious accident potential. However, a kind of car slipping named “drifting” can be seen in professional contests. So, it is reasonable to apply drift maneuvers in autonomous driving. This article proposes a controller for the particular driving skill—drifting based on MPC(Model Predictive Control). Firstly, we analyze drift cornering mechanisms of ...
