A dual-loop dynamic drifting control framework for distributed drive electric vehicles

Abstract As vehicular intelligence advances, drifting has been developed and applied to autonomous vehicles. This paper presents a real-time control framework to realize complex dynamic drifting maneuvers for DDEVs, which is called Dual-Loop Dynamic Drifting Control (DL-DDC). The framework is characterized by a dual-loop architecture. The inner loop is tasked with stabilizing the dynamic state quantities, and the outer loop is dedicated to tracking the kinematic state quantities. Validation is conducted in three different scenarios with Simulink/CarSim, and the results indicate that the proposed DL-DDC affords enhanced precision in dynamic stabilization and improved accuracy in kinematic tracking with a merely 0.6ms single-step solution time, which is pivotal for real-time hardware platform applications.