A virtual rider for two-wheeled vehicles

This work presents a virtual rider for the control of nonlinear motorcycle models, where the target motion is defined in terms of road path and speed profiles. The virtual rider inputs are the steering torque, the rear wheel driving/braking torque and front wheel braking torque. The virtual rider capability is assessed by guiding a nonlinear motorcycle model in very demanding cornering maneuvers, with roll angle up to 50°, and strong accelerations which lead the vehicle to the stoppie/wheeling extreme conditions.