In this work it is proposed an analysis of the foremost inertial measurements to take into account for the estimate of the lean angle in two-wheeled vehicles. As it is well-known, the roll angle is a crucial variable in the dynamic of a two-wheeled vehicle, since it greatly affects the behaviour of the tire-road contact forces, especially in the lateral direction. Hence, the capability of providing a real time and reliable measure of such quantity allows to evaluate the dynamic properties of the vehicle and its tires and represents the enabling technology for the design of advanced ABS systems and stability control systems. The aim of the analysis proposed in this work is to identify which are the inertial measurements (accelerations and angular rates) that are strongly related to the lean angle and that can be used to estimate it in a urban path. Ideally, the measured lateral acceleration and the vertical angular velocity are the only crucial variables to estimate the tilt angle of a motorcycle, but in a real condition characterized by the presence of slopes, banks and variable speed, also the longitudinal measurement axis becomes relevant.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4892-0
PROCEEDINGS PAPER
On the Roll Angle Estimate via Inertial Sensors: Analysis of the Principal Measurement Axes Available to Purchase
Ivo Boniolo,
Ivo Boniolo
Politecnico di Milano, Milano, Italy
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Giulio Panzani,
Giulio Panzani
Politecnico di Milano, Milano, Italy
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Sergio M. Savaresi,
Sergio M. Savaresi
Politecnico di Milano, Milano, Italy
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Alessandro Scamozzi,
Alessandro Scamozzi
Politecnico di Milano, Milano, Italy
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Luca Testa
Luca Testa
Politecnico di Milano, Milano, Italy
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Ivo Boniolo
Politecnico di Milano, Milano, Italy
Giulio Panzani
Politecnico di Milano, Milano, Italy
Sergio M. Savaresi
Politecnico di Milano, Milano, Italy
Alessandro Scamozzi
Politecnico di Milano, Milano, Italy
Luca Testa
Politecnico di Milano, Milano, Italy
Paper No:
DSCC2009-2562, pp. 841-848; 8 pages
Published Online:
September 16, 2010
Citation
Boniolo, I, Panzani, G, Savaresi, SM, Scamozzi, A, & Testa, L. "On the Roll Angle Estimate via Inertial Sensors: Analysis of the Principal Measurement Axes." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 841-848. ASME. https://doi.org/10.1115/DSCC2009-2562
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