TY  - JOUR
PY  - 2019//
TI  - Roll angle estimator based on angular rate measurements for bicycles
JO  - Vehicle system dynamics
A1  - Sanjurjo, Emilio
A1  - Naya, Miguel A.
A1  - Cuadrado, Javier
A1  - Schwab, Arend L.
SP  - 1705
EP  - 1719
VL  - 57
IS  - 11
N2  - 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>
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423114.2018.1551554
ID  - ref1
ER  -