A General 3D Road Model for Motorcycle Racing

TL;DR

This paper introduces a novel control-oriented 3D motorcycle model that incorporates nonplanar road dynamics and rider behavior to optimize racing trajectories on complex racetracks.

Contribution

It presents a new motorcycle model that combines nonplanar road features with motorcycle dynamics for improved racing line computation.

Findings

Effective in computing minimum-time racing trajectories

Handles nonplanar racetrack geometries

Includes simplified rider and steering dynamics

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.