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Vehicle Drift Emergence: Continuous Evolution from Grip Driving to the Handling Limit via Boundary Exploration Learning Model Predictive Control

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Automated drift controllers commonly track a prescribed drift equilibrium, sideslip reference, or trajectory. These formulations establish how to execute drift, whereas the continuous transition from grip driving to drift near the handling limit remains unresolved. This paper defines drift emergence in a repetitive lap time minimization task, where neither the controller objective nor the reward contains an explicit drift reference. A boundary exploration learning model predictive controller (BE-LMPC) constructs an empirical safe set and a locally shifted terminal cost from completed laps. By

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