让量产车实现稳定自动漂移，突破延迟与机械耦合难题
Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems
- 用预测器补偿动力系统延迟，改进控制算法适应高延迟和轴间耦合
- 实测量产跑车在250ms以上延迟下漂移误差≤1.1米，侧滑超调仅0.06弧度
- 适合研究自动驾驶极限操控、车辆安全系统及高延迟系统控制
在车辆稳定性极限内外进行自主控制是一项数学与计算上极具挑战的任务。以往的自动漂移演示局限于具备瞬时扭矩输出和独立驱动轮的研究平台，其在存在执行器延迟与机械耦合轴的量产车上是否适用尚不明确。为解决这一问题，我们设计了预测器以补偿动力传动延迟，开发了可适应更高执行延迟及驱动轴差动耦合的控制新形式，并引入基于制动的速度稳定机制。本文展示了控制器框架、模型扩展及真实世界实验结果。我们观察到，该控制器使搭载内燃机的量产跑车能够稳健维持圆形与8字形漂移，尽管执行器延迟超过250毫秒，横向误差仍控制在1.1米以内，侧滑超调不超过0.06弧度，同时抑制振荡，保持路径与侧滑跟踪稳定。结论表明，量产车辆上实现自主漂移是可行的，为传统控制失效场景下的先进安全系统开辟了新路径。
原文摘要 · Abstract (English)
Autonomously controlling and handling a vehicle at and beyond its stability limit is a mathematically and computationally demanding task. Prior demonstrations of automated drifting have been limited to research platforms with instantaneous torque delivery and independently actuated wheels, leaving their applicability to production vehicles with actuator latencies and mechanically coupled axles uncertain. To overcome these issues, we design a predictor to compensate for powertrain delays, develop a revised control formulation to accommodate higher actuation latencies as well as a differential coupling on the driven axle, and introduce brake-based velocity stabilization. This paper presents the controller framework, the model extensions, and real-world experimental results. We observe that our controller enables a production sports car with a combustion engine to robustly sustain circular and figure-eight drifts, limiting lateral error to 1.1 m and sideslip overshoot to 0.06 rad despite actuator delays exceeding 250 ms, while mitigating oscillations and maintaining stable path and sideslip tracking. In conclusion, our results establish that autonomous drifting is feasible on production-ready vehicles, opening pathways to advanced safety systems capable of stabilizing cars in scenarios where traditional control fails.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。