Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering

TL;DR

This paper introduces a nonlinear model predictive control method that combines multiple actuation techniques to improve path tracking and enable drifting in emergency scenarios, enhancing vehicle safety and maneuverability.

Contribution

It presents a novel NMPC framework integrating four-wheel steering, tyre force distribution, and yaw control for advanced vehicle maneuvering beyond current stability limits.

Findings

Significant improvement in path tracking performance.

Successful simulation of drifting maneuvers.

Enhanced vehicle control outside traditional stability envelopes.

Abstract

Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model predictive control (NMPC) approach that integrates multiple actuation methods, namely four-wheel-steering, longitudinal tyre force distribution, and direct yaw moment control, to execute drifting when this is beneficial for PT in emergency scenarios. Simulation results of challenging manoeuvres, based on an experimentally validated vehicle model, highlight the substantial PT performance improvements brought by: i) vehicle operation outside the envelope enforced by the current generation of stability controllers; and ii) the integrated control of multiple actuators.