Two-wheeler dynamics dataset

This dataset collects data from a two-wheeled vehicle in three different dynamical scenarios. TWO-WHEELER DATA COLLECTOR The two-wheeler used for data collection is an Energica Eva Ribelle retrofitted with the following sensors: Inertial Measurement Unit (IMU) Wheel speed sensors Optical Sensor Unit (OSU) GNSS Two front cameras Front LiDAR Steering angle sensors Suspension potentiometers and controllable actuators: the built-in traction motor connected to the rear wheel, providing traction torque measurement a brake-by-wire (BBW) system connected to the front wheel, providing braking pressure measurement a steer-by-wire (SBW) system connected to the steering axle, providing steer torque measurement The dataset also contains an estimation of wheel slips and vehicle attitude: roll, pitch, and yaw angles. SCENARIOS Manual Driving: traction/braking/slaloms performed by the rider (BBW and SBW are off) Autonomous Longitudinal Dynamics Control: traction/braking performed by a controller (SBW is off) Autonomous Lateral Dynamics Control: slaloms performed by a controller (BBW is off) Location: CREA-IT, Treviglio (BG), Italy DATASET ACCESS To request access to the dataset please contact: Stefano Radrizzani, Politecnico di Milano, [e-mail] Panzani, Politecnico di Milano, [e-mail]