A motorcycle enhanced model for active safety devices in intelligent transport systems

This paper proposes to enhance an existing motorcycle dynamics model, in order to take account of the longitudinal dynamics, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained using Lagrangian formulation. Also, to model the road surface, two additional equations describing the longitudinal slip and the longitudinal forces dynamic are included. The model is able to describe the coupling of the in-plane (longitudinal) and out-of-plane (lateral) dynamics and represents a suitable computational tool for designing preventive motorcycle active safety systems and controller synthesis applications. Simulation results and discussions are given in order to illustrate the effectiveness of the proposed mathematical tool.