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 affects the dynamics of singletrack 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 are assessed by using both a set of simulated data from a multibody model and a set of real data collected on an instrumented test vehicle