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This paper presents a hierarchical control framework for the obstacle avoidance of autonomous and semi-autonomous ground vehicles. The high-level planner is based on motion primitives created from a four-wheel nonlinear dynamic model. Parameterized clothoids and drifting maneuvers are used to improve vehicle agility. The low-level tracks the planned trajectory with a nonlinear Model Predictive Controller. The first part of the paper describes the proposed control architecture and methodology. The second part presents simulative and experimental results with an autonomous and semi-autonomous ground vehicle traveling at high speed on an icy surface.