Autonomous motorcycles: Towards behavioral modeling of steering systems

Author

El Amine Khettat, Mohamed ; Boubezoul, Abderrahmane ; Espié, Stéphane ; Bouaziz, Samir

Author_Institution

IFSTTAR, Paris-Est Univ., Paris, France

fYear

2012

fDate

10-12 May 2012

Firstpage

1103

Lastpage

1108

Abstract

Understanding behavioral dynamics of powered two-wheels (PTW) vehicles is essential for the development / improvement of their security systems and drive assistance. This paper presents the behavioral modeling of a PTW steering system in order to make it autonomous. The obtained behavioral model will be integrated into the global dynamic model selected for our vehicle in order to make it more representative of the real system behavior. We shall begin by presenting a state of the art of existing dynamic models in the literature and we shall discuss our selection criteria. We shall also discuss the main defects of this model and pay our attention particularly on the steering system. Finally, we shall identify a behavioral model based on experimentally collected data. The obtained model will be validated in simulation by developing a motorcycle balance controller at zero velocity.

Keywords

mechanical stability; motorcycles; steering systems; vehicle dynamics; PTW vehicle; autonomous motorcycle; behavioral dynamics; behavioral modeling; drive assistance; motorcycle balance controller; powered two-wheels; steering system; vehicle security system; Equations; Mathematical model; Motorcycles; Sensors; Steering systems; Vehicle dynamics; autonomous motorcycle; balance stabilization; behavioral model; sliding modes;

fLanguage

English

Publisher

ieee

Conference_Titel

Multimedia Computing and Systems (ICMCS), 2012 International Conference on

Conference_Location

Tangier

Print_ISBN

978-1-4673-1518-0

Type

conf

DOI

10.1109/ICMCS.2012.6320211

Filename

6320211