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Drift control is significant to the safety of autonomous vehicles when thereis a sudden loss of traction due to external conditions such as rain or snow.It is a challenging control problem due to the presence of significant sideslipand nearly full saturation of the tires. In this paper, we focus on the controlof drift maneuvers following circular paths with either fixed or movingcenters, subject to change in the tire-ground interaction, which are commontraining tasks for drift enthusiasts and can therefore be used as benchmarks ofthe performance of drift control. In order to achieve the above tasks, wepropose a novel hierarchical control architecture which decouples the curvatureand center control of the trajectory. In particular, an outer loop stabilizesthe center by tuning the target curvature, and an inner loop tracks thecurvature using a feedforward/feedback controller enhanced by an$\mathcal{L}_1$ adaptive component. The hierarchical architecture is flexiblebecause the inner loop is task-agnostic and adaptive to changes in tire-roadinteraction, which allows the outer loop to be designed independent oflow-level dynamics, opening up the possibility of incorporating sophisticatedplanning algorithms. We implement our control strategy on a simulation platformas well as on a 1/10 scale Radio-Control~(RC) car, and both the simulation andexperiment results illustrate the effectiveness of our strategy in achievingthe above described set of drift maneuvering tasks.

A Hierarchical Control Framework for Drift Maneuvering of Autonomous Vehicles