Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning performance. This paper presents a solution for the consecutive inertia drift of an autonomous RC car based on primitive-based planning and data-driven control. The planner generates complex paths via the concatenation of path segments called primitives, and the controller eases the burden on feedback by interpolating between multiple real trajectories with different initial conditions into one near-feasible reference trajectory. The proposed strategy is capable of drifting through various paths containing consecutive turns, which is validated in both simulation and reality.

翻译：惯性漂移是一种激进的过渡性驾驶操控，由于系统的高度非线性以及对控制与规划性能的严苛要求，实现该操控颇具挑战。本文提出一种基于基元规划与数据驱动控制的自主遥控车连续惯性漂移方案。规划器通过拼接称为基元的路径段生成复杂路径，控制器则将多条具有不同初始条件的真实轨迹插值为一条近可行的参考轨迹，从而减轻反馈负担。所提策略能够漂移通过包含连续转弯的各种路径，并在仿真与实际场景中均得到验证。