Design and experimental validation of a filter-based allocation strategy for the longitudinal dynamics control in an autonomous motorcycle

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2025-01-01 DOI:10.1016/j.ifacol.2025.07.098

Stefano Radrizzani, Claudio Dallapè, Giulio Panzani

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引用次数: 0

Abstract

Autonomous driving has expanded across various domains, with advancements in urban robo-taxis, autonomous delivery vehicles, agricultural applications, and racing competitions. However, autonomous technology for two-wheeled vehicles remains under-explored, with limited literature and industrial demonstrations. Despite motorcycles already feature basic autonomous components like cruise control, traction control, and anti-lock braking systems (ABS), full autonomy demands integrated control of front braking pressure and rear regenerative torque.

This work addresses the torque allocation problem inside the longitudinal dynamics control of an autonomous motorcycle, which is under development at Politecnico di Milano from a commercial fully-electric Energica Eva Ribelle. In particular, a complementary filter-based dynamic allocation strategy is proposed to distribute braking forces effectively, considering actuator limits. After a simulation-based tuning to handle the trade-off between braking distance and vertical load transfer variations on the wheels, an experimental validation has been carried out on a test track. Experimental results confirmed the effectiveness of the proposed approach.

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基于滤波器的自主摩托车纵向动力学控制分配策略设计与实验验证

随着城市机器人出租车、自动送货车辆、农业应用和赛车比赛的进步，自动驾驶已经扩展到各个领域。然而，两轮车辆的自动驾驶技术仍未得到充分探索，文献和工业示范都很有限。尽管摩托车已经具备了巡航控制、牵引力控制和防抱死制动系统（ABS）等基本的自动驾驶组件，但完全自动驾驶还需要综合控制前制动压力和后再生扭矩。这项工作解决了一辆自动驾驶摩托车纵向动力学控制中的扭矩分配问题，该摩托车正在米兰理工大学（Politecnico di Milano）由商用全电动Energica Eva Ribelle开发。特别提出了一种基于互补滤波器的动态分配策略，在考虑致动器限制的情况下，有效地分配制动力。在进行了基于仿真的调整以处理制动距离和车轮垂直载荷传递变化之间的权衡之后，在测试轨道上进行了实验验证。实验结果证实了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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