@article{ref1,
title="Roll angle estimator based on angular rate measurements for bicycles",
journal="Vehicle system dynamics",
year="2019",
author="Sanjurjo, Emilio and Naya, Miguel A. and Cuadrado, Javier and Schwab, Arend L.",
volume="57",
number="11",
pages="1705-1719",
abstract="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.<p /> <p>Language: en</p>",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2018.1551554",
url="http://dx.doi.org/10.1080/00423114.2018.1551554"
}