Steering Noise Cancelling for Drift Assist Control

In this paper we consider a driver assist system concept for the stabilization of the vehicle during high sideslip angle cornering (drifting). Unregulated steering inputs (steering noise) from inexperienced drivers, can disturb the drift equilibria and oppose to the controller’s stabilization task. Therefore, this paper presents a drift assist control concept to cancel the steering effects from the driver by torque vectoring. In detail, first by equilibria analysis for four-wheel drive vehicle, the steering effects on drift equilibria are analyzed, which indicates a contradiction between stabilizing the yaw rate and the sideslip angle. Then, by nonlinear programming, it is proven that the path angle rate together with the speed which determine the trajectory, could be stabilized with torque vectoring against the steering noise. Finally, a steering noise cancelling and trajectory tracking controller structure is designed and further evaluated with CarMaker.