{"id":"https://openalex.org/W4401878972","doi":"https://doi.org/10.1109/tits.2024.3437177","title":"Autonomous Drifting Using Torque Vectoring: Innovating Active Safety","display_name":"Autonomous Drifting Using Torque Vectoring: Innovating Active Safety","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4401878972","doi":"https://doi.org/10.1109/tits.2024.3437177"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3437177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3437177","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087482354","display_name":"Basilio Lenzo","orcid":"https://orcid.org/0000-0002-8520-7953"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Basilio Lenzo","raw_affiliation_strings":["Department of Industrial Engineering, University of Padova, Padua, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8520-7953","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Padova, Padua, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047979127","display_name":"Tushar Goel","orcid":"https://orcid.org/0000-0003-3508-4227"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tushar Goel","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3508-4227","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089181686","display_name":"J. Christian Gerdes","orcid":"https://orcid.org/0000-0001-7948-3444"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Christian Gerdes","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087482354"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":null,"apc_paid":null,"fwci":3.0223,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.91410005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"25","issue":"11","first_page":"17931","last_page":"17939"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9763000011444092,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9763000011444092,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9763000011444092,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9696000218391418,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6089263558387756},{"id":"https://openalex.org/keywords/active-safety","display_name":"Active safety","score":0.5935653448104858},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.469943106174469},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.40144556760787964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39463263750076294},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.36719781160354614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35584378242492676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23163491487503052}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6089263558387756},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.5935653448104858},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.469943106174469},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.40144556760787964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39463263750076294},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.36719781160354614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35584378242492676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23163491487503052},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2024.3437177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3437177","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3544791","is_oa":false,"landing_page_url":"https://hdl.handle.net/11577/3544791","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1974358072","https://openalex.org/W2025986912","https://openalex.org/W2145175815","https://openalex.org/W2280298437","https://openalex.org/W2532580713","https://openalex.org/W2741106615","https://openalex.org/W2883701950","https://openalex.org/W2902487314","https://openalex.org/W2981761302","https://openalex.org/W3002808167","https://openalex.org/W3005628052","https://openalex.org/W3033486454","https://openalex.org/W3119106947","https://openalex.org/W3119138107","https://openalex.org/W3119264867","https://openalex.org/W4200471519","https://openalex.org/W4233663611","https://openalex.org/W4285191267","https://openalex.org/W4285209266","https://openalex.org/W4291184086","https://openalex.org/W4387757694","https://openalex.org/W4394617011"],"related_works":["https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W2152805146","https://openalex.org/W2077812314","https://openalex.org/W2349815321","https://openalex.org/W577402060","https://openalex.org/W2326483923","https://openalex.org/W2072755410","https://openalex.org/W593591422","https://openalex.org/W567934348"],"abstract_inverted_index":{"Recent":[0],"years":[1],"have":[2],"seen":[3],"a":[4,30,39,84,95,105,118,123,130],"rapid":[5],"proliferation":[6],"of":[7,38,65,133,148],"new":[8],"concepts":[9],"and":[10,91,164],"technologies":[11],"related":[12],"to":[13,20,78],"automated":[14],"cars,":[15],"which":[16],"could":[17],"significantly":[18],"contribute":[19],"enhance":[21],"vehicle":[22,40,81,92,97,107,135],"passenger":[23],"safety.":[24],"Among":[25],"those,":[26],"autonomous":[27,69],"drifting":[28,70,82],"is":[29,43,77,112,117],"promising":[31],"idea":[32,76],"that":[33],"takes":[34],"the":[35,60,63,80,134,140,145,149],"control":[36,115],"possibilities":[37],"beyond":[41],"what":[42],"currently":[44],"achievable":[45],"by":[46],"active":[47],"safety":[48],"systems":[49],"such":[50],"as":[51,160],"Electronic":[52],"Stability":[53],"Control":[54],"(ESC).":[55],"This":[56],"paper":[57],"explores":[58],"for":[59],"first":[61],"time":[62],"use":[64],"torque":[66],"vectoring":[67],"in":[68,156],"vehicles":[71],"with":[72,87,98,109,122,151],"multiple":[73],"motors.":[74],"The":[75,114],"keep":[79],"along":[83,165],"predefined":[85],"path,":[86],"desired":[88],"sideslip":[89],"angle":[90],"speed.":[93],"Considering":[94],"rear-wheel-driven":[96],"one":[99],"motor":[100],"per":[101,161],"each":[102],"rear":[103],"wheel,":[104],"3-wheel":[106],"model":[108],"load":[110],"transfers":[111],"used.":[113],"formulation":[116],"feedforward":[119],"action":[120],"coupled":[121],"Linear":[124],"Quadratic":[125],"Regulator":[126],"(LQR)":[127],"based":[128],"on":[129,139],"steady-state":[131,157],"linearization":[132],"dynamics.":[136],"Experimental":[137],"results":[138],"full-scale":[141],"prototype":[142],"MARTY":[143],"demonstrate":[144],"actual":[146],"feasibility":[147],"concept,":[150],"very":[152],"good":[153],"tracking":[154],"performance":[155],"conditions":[158],"-":[159,163],"design":[162],"more":[166],"challenging":[167],"quasi-equilibrium":[168],"trajectories.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":11}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}