Motorcycle lateral dynamic estimation and lateral tire-road forces reconstruction using sliding mode observer

Abstract

Abstract-Extensive researches have shown that most of road accidents occur as a result of driver errors. A close examination of accident data reveals that losing the vehicle control is responsible for a huge proportion of car accidents. This observation is even more valid on motorcycle, recall that, last decade about 1600 french people are killed each year [7]. Preventing such kind of accidents using vehicle control systems, requires certain input data concerning vehicle dynamic parameters and vehicle road interaction. Unfortunately, some parameters like tire-road forces and lateral speed, which have a major impact on vehicle dynamics, are difficult to measure. Therefore, this data must be estimated. Due to the system nonlinearities and unmodeled dynamics, an observer based on sliding technique is proposed in this paper. The estimation process method use the motorcycle dynamic response's and standard sensors cheap and easily-available. Observer performances are tested and compared to the motorcycle model responses in different simulation conditions, various initial conditions and measurement noise. The effectiveness of the present approach is make out through the simulation results and show its practical potential as a low-cost solution for calculating lateral-tire forces and motorcycle lateral speed in a accuarate way.

A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

“…This expression is obtained from Equations ( 27), (43) and (45). The results from the numerical approach with the surface parametrized model show a very good agreement.…”

“…In the design and analysis of two-wheeled vehicle systems, it is clear that a better understanding of vehicle dynamics variables will improve the effectiveness of driving assistance systems [43,44]. For this reason, many researchers have used the linearized benchmark model based on the Whipple-Carvallo bicycle system [45].…”

Race Motorcycle Smart Wheel

“…In case of motorcycles, there is a very wide variety of driving situations, load conditions and driving styles to be considered. Numerical simulations can provide a rough idea of the possible maximum loads on the wheels but a large amount of uncertainty still remains [1].…”

“…The sensing unit of such measuring systems can be realized by means of strain gauges ([9,10,12]) or piezoresistive sensors [11]. Different measuring hubs are present on the market [1,2,3,4,5,6], [9,10,11,12]). Most of them are characterized by complex hardware and the ones developed for motorcycles [9] are difficult to apply to race motorcycles due to their excessive mass.…”

Risk assessment of vehicle cornering events in GNSS data driven insurance telematics

“…(Related studies utilizing measurements from e.g., inertial measurement units (IMUs) or optical sensors measuring the steering angle, can be found in [25]- [27].) The paper is organized as follows: Section II derives statistics related to the no-sliding and no-rollover conditions, and use these to define a cornering event in terms of vehicle dynamics.…”