Sliding-mode based estimation of the safety margins of lateral forces in motorcycle cornering

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

Abstract

This paper introduces an approach to estimate quantities of the motorcycle dynamics, focusing on lateral force margins, which are a safety critical information for driver assistance systems. Unlike prior work, it considers both out-of-plane and in-plane dynamics, taking into account the impact of pitch on turn rate measurements. An extended nonlinear model combined with a sliding mode approach is proposed. The observer is designed in transformed coordinates, using a method for inverting the transformation. A practical implementation concept is also presented that demonstrates real-world feasibility. The paper explains the calculation of the lateral force margins and their relation to the friction ellipse. The proposed observer concept is evaluated with simulation data.

Original languageEnglish
Title of host publication2024 IEEE Conference on Control Technology and Applications, CCTA 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages132-139
Number of pages8
ISBN (Electronic)9798350370942
DOIs
Publication statusPublished - 2024
Event2024 IEEE Conference on Control Technology and Applications, CCTA 2024 - Newcastle upon Tyne, United Kingdom
Duration: 21 Aug 202423 Aug 2024

Publication series

Name2024 IEEE Conference on Control Technology and Applications, CCTA 2024

Conference

Conference2024 IEEE Conference on Control Technology and Applications, CCTA 2024
Country/TerritoryUnited Kingdom
CityNewcastle upon Tyne
Period21.08.202423.08.2024

Keywords

  • nonlinear systems
  • sliding-mode observer
  • vehicle dynamics

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