Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
Volume 42, Issue 3, Pages 545-557Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCA.2011.2164244
Keywords
Bicycle dynamics; human operator modeling; manual control
Funding
- National Science Foundation [NSF CMMI-0928339]
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A control-theoretic model of the bicycle rider is developed. The model has its origins in pilot modeling efforts previously reported in the literature. A handling-quality metric that was employed in pilot/vehicle analysis is adopted for use in estimating the task-independent handling qualities of bicycles. The resulting model is parameterized by five gains, two fixed second-order filters, and a preview time. Analysis and computer simulation of the rider/bicycle system are undertaken using six linear models of existing bicycles at three different velocities. The rider's task consisted of a 2-m lane-change maneuver and return. Lane tracking performance was comparable for all bicycles at each velocity. Distinct variations in estimated handling-quality levels were evident in the analysis that indicated that bicycle velocities, rather than differences in the bicycles themselves, dominated the handling-quality predictions. A brief discussion of a rider control model for hands-free riding and a possible approach for model identification concludes this paper.
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