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Table 1 Initial and terminal conditions implemented in the CW application

From: Experimental evaluation of a system for assisting motorcyclists to safely ride road bends

State variable a Boundary conditions b
Symbol Description ζ = 0 ζ = L
s n Lateral position s n (0)= ŝ n ( t k ) s n (L) = 0
α Relative yaw angle α(0)= α ̂ ( t k ) FREE
ϕ Roll angle ϕ(0)= ϕ ̂ ( t k ) FREE
u Forward speed u(0)=û( t k ) FREE
ω ϕ Roll rate ω ϕ (0)= ω ̂ ϕ ( t k ) ω ϕ (L) = 0
ω ψ Yaw rate ω ψ (0)= ω ̂ ψ ( t k ) FREE
a x Longitudinal acceleration a x (0)= a x ̂ ( t k ) a x (L) = 0
a ψ Yaw acceleration a ψ (0)= â ψ ( t k ) a ψ (L) = 0