Measuring the roll angle of single-track vehicles has always been a challenging task; however, accurate and reliable measurements of this magnitude are paramount for controlling the stability of these vehicles, both for autonomous riding and for safety reasons. A roll angle estimation is also useful in other situations, such as tests to perform the identification of the parameters of the rider control. In this work, a new algorithm is presented for estimating the roll angle of bicycles. This estimator, based on the well-known Kalman filter, employs a wheel speed sensor to approximate the speed of the vehicle, and three angular rate sensors, which are currently small and affordable sensors. The proposed method was implemented in a microcontroller and tested in a bicycle and the results were compared with measurements obtained with optical sensors, showing a good correlation. Although it has not been tested in motorcycles, comparable results are expected.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Roll angle estimator based on angular rate measurements for bicycles


    Contributors:

    Published in:

    Vehicle System Dynamics ; 57 , 11 ; 1705-1719


    Publication date :

    2019-11-02


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Adjustable head angle bicycles

    ROBINSON BRIAN DANIEL / BOWERS JEFFREY KEITH / CHAN WILLIAM TE-CHUNG | European Patent Office | 2023

    Free access

    ADJUSTABLE HEAD ANGLE BICYCLES

    ROBINSON BRIAN DANIEL / BOWERS JEFFREY KEITH / CHAN WILLIAM TE-CHUNG | European Patent Office | 2024

    Free access

    ADJUSTABLE HEAD ANGLE BICYCLES

    ROBINSON BRIAN DANIEL / CHAN WILLIAM TE-CHUNG / BOWERS JEFFREY KEITH | European Patent Office | 2021

    Free access

    ADJUSTABLE HEAD ANGLE BICYCLES

    ROBINSON BRIAN DANIEL / BOWERS JEFFREY KEITH / CHAN WILLIAM TE-CHUNG | European Patent Office | 2021

    Free access

    Bicycles equipped with angular adjustment means

    CHA JIN WOO | European Patent Office | 2017

    Free access