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]