Aggressive maneuvers on loose surfaces: Data analysis and input parametrization

In this work we initiate a mathematical analysis of rally racing techniques. An empirical description of trail-braking (TB) and pendulum-turn (PT) cornering, two of the most common rally racing maneuvers, is provided via analysis of data collected during execution of these maneuvers by an expert rally driver. Trail-Braking and Pendulum-Turn maneuvering techniques are reproduced using numerical optimization as special cases of the minimum time cornering problem with specific boundary conditions. We show that a simple parametrization of the control inputs can be used to reproduce these maneuvers using a high fidelity full-car model.