Estimating the Roll Angle for a Two-Wheeled Single-Track Vehicle Using a Kalman Filter

This study determines the roll angle for a two-wheeled single-track vehicle during cornering. The kinematics are analyzed by coordinate transformation to determine the relationship between the measured acceleration and the acceleration in the global coordinate. For a measurement error or noise, the state space expression is derived. Using the theory for a Kalman filter, an estimator with two-step measurement updates estimates the yaw rate and roll angle using the acceleration and angular velocity signals from an IMU sensor. A bicycle with relevant electronic products is used as the experimental object for a steady turn, a double lane change and a sine wave turn in real time to determine the effectiveness of the estimator. The results show that the proposed estimator features perfect reliability and accuracy and properly estimates the roll angle for a two-wheeled vehicle using IMU and velocity.