Steady State Drifting Controller for Vehicles Travelling in Reverse Direction

Abstract

This paper presents a control design methodology for the stabilization of the drift maneuvers of a vehicle while it is moving in the reverse direction. The reverse driving car is modeled as a front-wheel-drive (FWD) vehicle with rear-wheel-steering (RWS) control. In this research, the FWD with RWS vehicle is stabilized during drifting conditions with the regulation of the vehicle velocity, yaw rate, and side-slip angle. The cornering conditions required for ideal drifting are calculated numerically using a nonlinear mathematical vehicle model with nonlinear tire dynamics. The proposed linear state feedback controller is designed using linear quadratic regulator (LQR) design technique by utilizing the linear models of the vehicle computed at the corresponding drifting conditions. In addition, the control system achieves the drift stabilization using realistic control inputs of the rear wheel steering angle and the front wheels angular velocity. The simulations using a nonlinear vehicle model show that the presented controller can successfully stabilize the vehicle during drifting conditions while traveling in the reverse direction.