Real-Time Roll Angle Estimation for Two-Wheeled Vehicles

An original method for the real-time estimation of the roll angle using low-cost sensors in two-wheeled vehicles is proposed. The roll angle greatly affect the dynamics of single-track vehicles and its estimation is essential in control systems such as ABS, Traction Control, as well as Curve and Collision Warning, or even active suspensions. The proposed method uses a non-linear Kalman filter, its performances have been assessed by using both a set of simulated data got from a multibody model and a set of real data collected on an instrumented test vehicle