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
2012-01-01
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.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.