无需转向的四轮独立驱动车靠扭矩差实现稳定漂移
Steeringless Drifting: Differential-Torque Control of a Four-Wheel Independently Driven Vehicle
- 通过轮间扭矩差直接产生横摆力矩，实现无转向漂移控制
- 仿真与实测均达成约20度侧滑角的稳定环形漂移
- 适合研究无转向车辆极限操控的新手或自动驾驶开发者
面向自动驾驶车辆在极限工况下的控制需求，传统漂移依赖机械转向与后轮饱和，而无需转向的四轮独立驱动（4WID）车辆可通过轮间扭矩差直接生成横摆力矩。本文提出一种基于差速扭矩的漂移控制方法，建立包含四轮独立驱动的双轨车辆模型，设计漂移平衡计算与闭环控制器。通过1:10比例样车的仿真与实验验证，车辆可实现约20°侧滑角的稳定圆形漂移，并完成8字形轨迹追踪。研究证明仅靠差速扭矩即可实现漂移控制，为无转向车辆架构的极限控制提供了新思路。
原文摘要 · Abstract (English)
Control methods for emerging vehicle chassis architectures are important for autonomous driving near handling limits. Unlike conventional drift control, which relies on mechanical steering and rear-tire saturation, a steering-free four-wheel independently driven (4WID) vehicle can generate direct yaw moment through differential wheel torques. This paper proposes a differential-torque drift control method for such a vehicle. A double-track vehicle model incorporating four-wheel differential actuation is established, based on which a drift-equilibrium calculation method and a closed-loop drift controller are developed. The proposed approach is validated through simulations and experiments on a 1:10-scale vehicle. The results show that the vehicle can achieve steady circular drifting with a sideslip angle of approximately 20$^\circ$ and perform figure-eight drift tracking. This study demonstrates the feasibility of drift control using only differential wheel torques and provides a new perspective on near-limit control for steering-free vehicle architectures.
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