@inproceedings{27d050572d364cf3a0666ca66e5d8380,
title = "Sliding-mode based estimation of the safety margins of lateral forces in motorcycle cornering",
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.",
keywords = "nonlinear systems, sliding-mode observer, vehicle dynamics",
author = "Alexander Winkler and Gernot Grabmair and Johann Reger",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 2024 IEEE Conference on Control Technology and Applications, CCTA 2024 ; Conference date: 21-08-2024 Through 23-08-2024",
year = "2024",
doi = "10.1109/CCTA60707.2024.10666601",
language = "English",
series = "2024 IEEE Conference on Control Technology and Applications, CCTA 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "132--139",
booktitle = "2024 IEEE Conference on Control Technology and Applications, CCTA 2024",
address = "United States",
}