Lean angle is a crucial variable in determining the dynamic behavior of two-wheeled vehicles. As such, its knowledge is needed to enhance active safety via traction, braking and stability control systems. To estimate the roll angle, this paper proposes a method that employs a reduced set of sensors with respect to existing solutions; namely, two accelerometers and a gyroscope are needed. Notably, it does not require the knowledge of the speed signal, which can be unavailable and/or affected by significant uncertainties when large accelerations/decelerations occur. The estimation performance are analyzed based on experimental data collected on a sport motorcycle at the Imola circuit.

Lean angle estimation in two-wheeled vehicles with a reduced sensor configuration

BONIOLO, IVO EMANUELE FRANCESCO;SAVARESI, SERGIO MATTEO;TANELLI, MARA
2012

Abstract

Lean angle is a crucial variable in determining the dynamic behavior of two-wheeled vehicles. As such, its knowledge is needed to enhance active safety via traction, braking and stability control systems. To estimate the roll angle, this paper proposes a method that employs a reduced set of sensors with respect to existing solutions; namely, two accelerometers and a gyroscope are needed. Notably, it does not require the knowledge of the speed signal, which can be unavailable and/or affected by significant uncertainties when large accelerations/decelerations occur. The estimation performance are analyzed based on experimental data collected on a sport motorcycle at the Imola circuit.
Proceedings of 2012 IEEE International Symposium on Circuits & Systems
978-1-4673-0218-0
File in questo prodotto:
File Dimensione Formato  
published-2573_ISCAS_2012.pdf

Accesso riservato

: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 1.18 MB
Formato Adobe PDF
1.18 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11311/657466
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 17
  • ???jsp.display-item.citation.isi??? 14
social impact