Model-based Corner Braking Control for Electric Motorcycles

Electrification of vehicle propulsion is also applied to motorcycles, allowing for new power train architectures like all-wheel driven motorcycles by using hub motors. The additional degrees of freedom of such an all-wheel driven power train can be used for enhancing safety especially during cornering. In this contribution, an efficient model predictive control allocation (MPCA) algorithm is developed for this task, which distributes the electric braking force between front and rear wheel. It is shown that the method reduces the unwanted and possibly dangerous brake steer torque while braking a motorcycle in a curve.