Minimum-Time Trajectories of Motorcycles

Abstract

In this paper, a minimum-time trajectory for cornering of a motorcycle is investigated by means of an optimal control theory. A U-shaped course or S-shaped courses are considered to evaluate the characteristics of cornering. Numerical results show that optimal trajectories are the out-in-out line. During cornering, a roll angle holds constant value while front and rear tire side forces use the maximum value. Furthermore, a velocity is increased during the S-turn maneuver in the middle of the S-shaped course.