Experimental Identification of the Lateral Dynamics of a Steering-assisted Two-wheeled Vehicle

An active steering assistant (ActiSA) is proposed, which supports the rider in controlling the handlebar by applying a steering torque to the front assembly, while keeping the rigid connection between the handlebar and the front wheel for safety reason. This paper addresses the question whether or not the mere presence of the inactive ActiSA system may negatively affects handling. The assistance steering torque is applied with a brushless electric motor connected to the steering shaft by a gearbox and a belt transmission. A number of sensors is employed to monitor the vehicle motion and the rider’s steering torque, including an inertial measurement unit, a GPS, and a torsiometer.