後輪に搭載したimuによる前輪舵角推定を用いた二輪車の車両挙動可視化手法

Key Points

• The study aims to develop an easy method for estimating front wheel angle and visualizing vehicle behavior using a lower-cost IMU.
• Mounted a small IMU on the rear axle to capture motion data.
• Estimated front wheel and vehicle motion using geometric relationships.
• Conducted driving experiments to collect data for analysis.
• Confirmed high accuracy of the estimated behaviors through image analysis verification.
• Demonstrated feasibility of measuring vehicle dynamics without expensive equipment.