This study develops an autonomous vehicle control method that enables it to perform a drift maneuver which is an expert driving technique consisting of sliding the rear wheel intentionally for fast cornering. By developing an autonomous control algorithm for such an agile maneuver, the safety of the future autonomous vehicle on extreme conditions such as slippery road, will be increased. Drift equilibrium states are derived to find the suitable feedforward control input for the scale car to enter the drifting region. In addition, a feedback controller is designed based on the linear quadratic regulator method in order to track the circular trajectory and maintain drift equilibrium states. To validate the performance of the developed control algorithm a 1:10 scale car experimental platform is developed with on-board control and sensor system. The feasibility of the developed method for the autonomous vehicle is confirmed through both simulation and experiments following circular trajectories while maintaining the desired equilibrium states.

中文翻译：

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用于自主车辆跟踪的漂移控制器的实验验证：使用 LQR 方法的圆形轨迹

本研究开发了一种自动驾驶车辆控制方法，使其能够执行漂移操纵，这是一种专家驾驶技术，包括有意滑动后轮以进行快速转弯。通过为这种敏捷机动开发自主控制算法，未来自动驾驶汽车在湿滑路面等极端条件下的安全性将得到提高。推导出漂移平衡状态，以找到合适的前馈控制输入，使秤车进入漂移区域。此外，基于线性二次调节器方法设计了反馈控制器，以跟踪圆形轨迹并保持漂移平衡状态。为了验证开发的控制算法的性能，开发了一个 1:10 比例的汽车实验平台，带有车载控制和传感器系统。