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Real-Time Roll Angle Estimation for Two-Wheeled Vehicles

[+] Author Affiliations
Roberto Lot, Vittore Cossalter, Matteo Massaro

University of Padova, Padova, Italy

Paper No. ESDA2012-82182, pp. 687-693; 7 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4484-7
  • Copyright © 2012 by ASME


An original method for the real-time estimation of the roll angle using low-cost sensors in two-wheeled vehicles is proposed. The roll angle greatly affects the dynamics of single-track vehicles and its estimation is essential in control systems such as ABS, Traction Control, as well as Curve and Collision Warning, or even active suspensions. The proposed method uses a non-linear Kalman filter, its performances are assessed by using both a set of simulated data from a multibody model and a set of real data collected on an instrumented test vehicle.

Copyright © 2012 by ASME
Topics: Vehicles



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