Recent years have seen a rapid proliferation of new concepts and technologies related to automated cars, which could significantly contribute to enhance vehicle passenger safety. Among those, autonomous drifting is a promising idea that takes the control possibilities of a vehicle beyond what is currently achievable by active safety systems such as Electronic Stability Control (ESC). This paper explores for the first time the use of torque vectoring in autonomous drifting vehicles with multiple motors. The idea is to keep the vehicle drifting along a predefined path, with desired sideslip angle and vehicle speed. Considering a rear-wheel-driven vehicle with one motor per each rear wheel, a 3-wheel vehicle model with load transfers is used. The control formulation is a feedforward action coupled with a Linear Quadratic Regulator (LQR) based on a steady-state linearization of the vehicle dynamics. Experimental results on the full-scale prototype MARTY demonstrate the actual feasibility of the concept, with very good tracking performance in steady-state conditions - as per design - and along more challenging quasi-equilibrium trajectories.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Drifting Using Torque Vectoring: Innovating Active Safety


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.11.2024


    Format / Umfang :

    16023032 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A torque vectoring control for enhancing vehicle performance in drifting

    Vignati, Michele / Sabbioni, Edoardo / Cheli, Federico | BASE | 2018

    Freier Zugriff

    TORQUE VECTORING DIFFERENTIAL

    HUGHES DOUGLAS / NAGHSHTABRIZI PAYAM / SPRING JAMES K et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Torque vectoring apparatus

    AHN CHULMIN / BYUN SUNGGON / KIM SEOK JOON et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Manual torque vectoring

    O'ROURKE RYAN / WESTON MARK THOMAS / WESTON KEITH | Europäisches Patentamt | 2023

    Freier Zugriff

    TORQUE VECTORING APPARATUS

    AHN CHULMIN / BYUN SUNGGON / KIM SEOK JOON et al. | Europäisches Patentamt | 2021

    Freier Zugriff