Autonomous Drifting Control in 3D Car Racing Simulator | IEEE Conference Publication | IEEE Xplore

Autonomous Drifting Control in 3D Car Racing Simulator


Abstract:

It is known that drifting is a driving technique, when a car is moving along some direction different from its steering trajectory, having a slip angle at the rear axle g...Show More

Abstract:

It is known that drifting is a driving technique, when a car is moving along some direction different from its steering trajectory, having a slip angle at the rear axle greater then at the forward axle. Even though it is often used in auto sport, it is still not applied to everyday life due to safety concerns. On the other hand, using all car control possibilities can provide safe driving even in extreme conditions without a crash. This article is devoted to the investigation and development of a drift controller and its application in electric car simulation with studying the problems of autonomous drifting and stabilization around an equilibrium state. To implement the drift controller, we used all-wheel drive Roborace Robocar in Speed Dreams car racing simulator, applying the mechanical bicycle and simplified nonlinear tire models to define tire parameters, and two state equilibrium model to compute the equilibrium points. Although the steering drift controller is rather simple and based on errors from equilibrium values, to find controller's gains the model was linearized, and controller was represented as full-state feedback that guaranteed its stability.
Date of Conference: 25-27 September 2018
Date Added to IEEE Xplore: 09 May 2019
ISBN Information:
Print on Demand(PoD) ISSN: 1541-1672
Conference Location: Funchal, Portugal

References

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