Abstract
Stable maneuverability is extremely important for the overall safety and robustness of autonomous vehicles under extreme conditions, and automated drift is able to ensure the widest possible range of maneuverability. However, due to the strong nonlinearity and fast vehicle dynamics occurring during the drift process, drift control is challenging. In view of the drift parking scenario, this paper proposes a segmented drift parking method to improve the handling ability of vehicles under extreme conditions. The whole process is divided into two parts: the location approach part and the drift part. The model predictive control (MPC) method was used in the approach to achieve consistency between the actual state and the expected state. For drift, the open-loop control law was designed on the basis of drift trajectories obtained by professional drivers. The drift monitoring strategy aims to monitor the whole drift process and improve the success rate of the drift. A simulation and an actual vehicle test platform were built, and the test results show that the proposed algorithm can be used to achieve accurate vehicle drift to the parking position.
Highlights
The stability of the vehicle chassis has always been a matter of concern
When the vehicle is driving on a low-adhesion road, with a low friction coefficient, it is easy for turning to cause the rear wheels to reach the adhesion limit ahead of the other wheels, and the tail of the vehicle will swing out, that is, the drift phenomenon will occur. It causes the vehicle’s heading angle, mass center sideslip angle, and other states to change with time, accelerating, and the vehicle will be in an unstable state
Driverless vehicles are able to ignore driver factors such that nonprofessional drivers are able to experience the fun of the drift
Summary
The stability of the vehicle chassis has always been a matter of concern. Chassis design can be divided into different classifications for different groups of people [1]. The chassis usually exhibits a reduced margin of stability in the system when completing specific driving actions. This usually causes tire adhesion to reach saturation, referred to as the limit condition. When the vehicle is driving on a low-adhesion road, with a low friction coefficient, it is easy for turning to cause the rear wheels to reach the adhesion limit ahead of the other wheels, and the tail of the vehicle will swing out, that is, the drift phenomenon will occur. Goh et al, performed experiments on the full-scale MARTY test vehicle to confirm the effectiveness of the controller on a trajectory with a curvature varying from 1/7 to 1/20 m. Driverless vehicles are able to ignore driver factors such that nonprofessional drivers are able to experience the fun of the drift
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