Lateral & Steering Dynamics Estimation for Single Track Vehicle: Experimental Tests

This paper deals with lateral and steering dynamics estimation of powered two-wheeled (PTW) vehicles. It presents an experimental validation of the Unknown Input Observer (UIO) addressed in Damon et al. (2016). A small scooter equipped with a multi-sensor architecture used to performed the test is introduced. A mathematical model of the scooter is derived using measured parameters on a Computer-Aided Design (CAD) model. Then the main design steps of the UIO are shortly remind. Finally, an urban driving scenario is presented to show the effectiveness of the proposed observer to estimate the lateral dynamics and the rider's action in real riding scenario.