arxiveess.SY2026-07-16
A Model Predictive Control Framework for Assisted Vehicle Drifting
Marco Cortese, Antonio Gallina, Matteo Grandin, Giovanni Righetti, Mattia Bruschetta, Basilio Lenzo
Model Predictive Control (MPC) has been widely applied to autonomous vehicle drifting. Assisted drifting, that is where the driver remains in the loop, is still comparatively underexplored. Existing approaches often rely on restrictive assumptions, such as precomputed drift equil…