Vehicle Drifting Planning and Control Framework for Flexible U-turns in Space-limited Environments
Shuaicong Yang, Wei He, Yi Yang, Ting Zhang, Mengyin Fu
Abstract
Space-limited U-shape bend is a safety-critical scenario that requires the high maneuverability of vehicles. However, due to the non-holonomic nature of the vehicle, it is difficult to perform flexible U-turns without intricate adjustments, which is detrimental to the efficient execution of tasks. To address these issues, this work incorporates the drifting maneuver of the vehicle and proposes a planning and control framework for time-space efficient passing in constrained U-shape bends. First, a dual-track, 3-Dof vehicle model is developed, incorporating load transfer effects and nonlinear tire forces to enhance trajectory precision. Based on this model, a nonlinear optimization-based planner generates time-optimal, space-efficient, and drift-compatible trajectories while ensuring dynamic feasibility. Finally, a multilayer controller is designed for precise trajectory tracking, integrating a trajectory error feedback compensator, a dynamic state feedforward-feedback regulator, and a model inversion-based actuator controller. Simulation experiments in CarSim validate the proposed framework, demonstrating significant improvements in spatial efficiency and completion time. The results highlight its effectiveness in enhancing autonomous vehicle maneuverability for high-performance applications in constrained environments.
BibTeX
@inproceedings{iros2025_vehicledriftingp,
title = {Vehicle Drifting Planning and Control Framework for Flexible U-turns in Space-limited Environments},
author = {Shuaicong Yang and Wei He and Yi Yang and Ting Zhang and Mengyin Fu},
booktitle = {IROS 2025},
year = {2025}
}