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Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach

Abstract : This paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turn. In other words, the proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. The inverse perspective mapping technique is used to reconstruct a bird-eye-view of the road image. Then, filters are applied to keep only the road markers which are, afterwards, approximated with the well-known clothoid model. That allows to predict the road geometry such that the curvature ahead of the motorcycle. Finally, from the predicted road curvature, the measures of the Euler angles and the vehicle speed, the proposed algorithm is able to characterize the steering behavior. To that end, we propose to estimate the steering ratio and we introduce new pertinent indicators such that the vehicle relative position dynamics to the road. The method is validated on the advanced simulator BikeSim during a steady turn.
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Submitted on : Friday, October 4, 2019 - 11:27:36 AM
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Pierre-Marie Damon, Hicham Hadj-Abdelkader, Hichem Arioui, Kamal youcef-Toumi. Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach. 15 th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018), Nov 2018, Singapore, Singapore. pp.355--360, ⟨10.1109/ICARCV.2018.8581298⟩. ⟨hal-01933667⟩



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