A General 3D Road Model for Motorcycle Racing

2024/06/03 by Thomas Fork, Fork, Thomas, Francesco Borrelli +1
Engineering · #FOS: Computer and information sciences #Real-time simulation and control systems #Robotics (cs.RO) #Simulation and Modeling Applications #Vehicle Dynamics and Control Systems

paper · pdf · doi:10.48550/arxiv.2406.01726

openalex publication_date 2024/06/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road models with the dynamics of motorcycles. Our approach considers the additional camber degree of freedom of the motorcycle body with a simplified model of the rider and front steering fork bodies. We demonstrate the effectiveness of our model by computing minimum-time racing trajectories on a nonplanar racetrack.

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