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Summary & Details

A Method for Lean Angle Estimation of Motorcycle Riders via Factor-Graph-Based Integration of Onboard GNSS/IMU

因子グラフを用いた車載GNSS/IMU統合での自動二輪車ライダー乗車リーン角推定手法の提案

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Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20265306

Paper/Info type: Proceedings (Spring)

No.71-26

Pages: 1-6(Total 6 p)

Date of publication: May 2026

Publisher: JSAE

Language: Japanese

Event: 2026 JSAE Annual Congress (Spring)

Detailed Information

Author(J)	1) 松村優希, 2) 木谷友哉
Author(E)	1) Yuki Matsumura, 2) Tomoya Kitani
Affiliation(J)	1) 静岡大学, 2) 静岡大学
Affiliation(E)	1) Shizuoka University, 2) Shizuoka University
Abstract(J)	二輪車の車体に対するライダーの相対的な傾きである乗車リーン角の推定は，コーナリング中のライダーの姿勢制御メカニズムの解明に寄与するとともに，運転スキルの定量的把握につながる．本研究では，車載GNSSおよびIMUから得た時系列データを因子グラフ最適化により統合し乗車リーン角を推定する手法を提案する． Translation
Abstract(E)	Estimating the rider lean angle, defined as the rider's inclination relative to the motorcycle body, is essential for elucidating posture control mechanisms during cornering and for quantitatively assessing riding skill. This study proposes a method to estimate rider lean angle by integrating time-series data obtained from on-board GNSS and IMU sensors using factor graph optimization.

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