This paper presents simple analytical techniques that are used to understand and control high sideslip drift manoeuvres of road vehicles. These are manoeuvres in which a skilled driver stabilises a vehicle beyond its limits of handling, an operating regime responsible for major safety concerns in everyday driving. An analysis of the equilibria of a bicycle model with nonlinear tyres reveals the existence of unstable ‘drift equilibria’ corresponding to cornering at high sideslip angle in a countersteer configuration. Equipped with this information, linearisation about a desired drift equilibrium is used to design a controller that stabilises the vehicle at the equilibrium. The controller is subsequently implemented on a steer- and drive-by-wire testbed and successfully used to achieve autonomous drifts.


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    Titel :

    Analysis and control of high sideslip manoeuvres


    Beteiligte:

    Erschienen in:

    Vehicle System Dynamics ; 48 , sup1 ; 317-336


    Erscheinungsdatum :

    2010-12-01


    Format / Umfang :

    20 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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