Steeringless Drifting: Differential-Torque Control of a Four-Wheel Independently Driven Vehicle

arXiv:2607.24863v1 Announce Type: new Abstract: Control methods for emerging vehicle chassis architectures are important for autonomous driving near handling limits. Unlike conventional drift control, which relies on mechanical steering and rear-tire saturation, a steering-free four-wheel independently driven (4WID) vehicle can generate direct yaw moment through differential wheel torques. This paper proposes a differential-torque drift control method for such a vehicle. A double-track vehicle m...