文章基本信息

标题：Autonomous Drift Cornering with Mixed Open-loop and Closed-loop Control
本地全文：下载
作者：F. Zhang ; J. Gonzales ; K. Li 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1916-1922
DOI：10.1016/j.ifacol.2017.08.265
语种：English
出版社：Elsevier
摘要：AbstractExpert drivers have the skill to perform high side slip maneuvers, like drifting, during racing events to minimize lap time. Due to the complex dynamics of these maneuvers, transient drift is difficult to model and to control in autonomous vehicles.In this paper, the authors present a mixed open-loop and closed-loop control strategy to perform a transient drift-corning trajectory. The reference trajectory is generated from a ruled-based algorithm. We validate the planning and control techniques in simulation using Simulink/Carsim, and experimentally using an open source, low cost 1/10 scale RC car.
关键词：KeywordsAutonomous vehiclesVehicle dynamicsRule-based path planningDrift control