Driver model for vehicle dynamics simulation of single-track vehicles using a co-simulation interface

For simulating driving maneuvers with single track vehicles like motorcycles a driver model is needed. This is due to the fact that single track vehicles are inherently instable systems which tend to capsize if the system state is not considered properly. This paper demonstrates the development of a driver model for vehicle dynamic simulations by use of a co-simulation environment. The information needed for control design are directly obtained from a multi body model using the mbs software Simpack. The driver model is modeled in Simulink and consists of a state-space controller for stabilization and roll angle control, a path following controller which calculates the target roll angle and a velocity controller. The simulation is carried out by connecting the mbs-vehicle model with the driver model by use of a co-simulation interface.