A Geometric approach for estimating sideslip angle for Powered Two- Wheeled Vehicles

Obaida Alrazouk (1) , Martin Pryde (1) , Amine Chellali (1) , Lamri Nehaoua (1) , Hichem Arioui (1)

1 IBISC - Informatique, BioInformatique, Systèmes Complexes

This paper proposes a simple, model-independent method to estimate the sideslip angle of Powered Two-Wheeled Vehicles (P2WV) using knowledge about the road model and an Inertial Measurement Unit (IMU). This proposed model is then tested using simulator software (BikeSim) on different scenarios with different tracks, velocities, and sample rates. Our results indicate the validation of the model. With these promising results, we propose some future applications where this work can be utilized.

Domains: Automatic; Graphics [cs.GR]

Obaida Alrazouk, Martin Pryde, Amine Chellali, Lamri Nehaoua, Hichem Arioui. A Geometric approach for estimating sideslip angle for Powered Two- Wheeled Vehicles. 17th International Conference on Control, Automation, Robotics and Vision (ICARCV 2022), Dec 2022, Singapore, Singapore. pp.905--910, ⟨10.1109/ICARCV57592.2022.10004266⟩. ⟨hal-03954267⟩