High-Performance Motorbike Lean Angle Estimation

arXiv2302.06265MaRDI QIDQ6426299FDOQ6426299

Authors: Nicola Mimmo, Matteo Zanzi 

Publication date: 13 February 2023

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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