High-Performance Motorbike Lean Angle Estimation

Nicola Mimmo; Matteo Zanzi

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arXiv · 2302.06265

High-Performance Motorbike Lean Angle Estimation

Nicola Mimmo·Matteo Zanzi

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Abstract

This work deals with the real-time estimation of the lean angle of high-performance motorbikes. The estimate is obtained through measurements provided by an onboard inertial sensor and a GNSS receiver. A two-stage state observer, implementing a kinematic model developed under the novel assumption of coordinated manoeuvre, processes these measurements. A theoretical analysis demonstrates the observer's stability, while a covariance analysis assesses the estimate's accuracy and error bounds. Finally, experimental results obtained on race-track tests and numerical comparisons, with competitive approaches, in simulated realistic scenarios show the superior performance of the proposed estimator.

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BibTeX RIS

Nicola Mimmo, Matteo Zanzi. 2023-02-13. High-Performance Motorbike Lean Angle Estimation. https://arxiv.org/abs/2302.06265

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