Two-wheeled motorcycle automation : System approach

This paper presents a motorized two-wheeled vehicle automation project. More precisely, an approach of a motorcycle control starting from its system to establish an autopilot is proposed. There are several objectives : improve the dynamic behaviour of a motorcycle, develop control tools to assist the driver etc. In this paper, we present the first phase of this project, related to the motorcycle instrumentation by several sensors in order to measure its behaviour and to deduce its attitude in the space. The second phase will consists of the addition of actuators to automate its control units (front and rear brakes, throttle, steering). The third phase is devoted to the control architecture. We also present methodology to measure the position of the gravity centre and estimate the inertia moment of steering system. These two parameters are very important in the dynamic model which is under development