Autonomous motorcycles: Towards behavioral modeling of steering systems

Understanding behavioral dynamics of powered two-wheels (PTW) vehicles is essential for the development / improvement of their security systems and drive assistance. This paper presents the behavioral modeling of a PTW steering system in order to make it autonomous. The obtained behavioral model will be integrated into the global dynamic model selected for our vehicle in order to make it more representative of the real system behavior. We shall begin by presenting a state of the art of existing dynamic models in the literature and we shall discuss our selection criteria. We shall also discuss the main defects of this model and pay our attention particularly on the steering system. Finally, we shall identify a behavioral model based on experimentally collected data. The obtained model will be validated in simulation by developing a motorcycle balance controller at zero velocity.