W. Li, P. Francis, R. McClosky, A. Brown

Pages: 73-88

Abstract
This paper introduces WeBikes, an open-source simulation element for the Webots robot simulation software that allows users to easily simulate the dynamics of bicycles and motorcycles. WeBikes allows users to configure the dimensional, inertial, and visual properties of a two-wheeled vehicle. Open-loop comparisons between the WeBikes vehicle’s behavior and a canonical linear model of single-track vehicle dynamics show that WeBikes captures the self-stabilization behavior of two wheeled vehicles as predicted by the linear model. Additionally, the WeBikes add-on includes a simple virtual rider that stabilizes the vehicle using optimal linear feedback control. Comparisons between the closed-loop behavior of the WeBikes vehicle and the linear model show strong agreement, which indicates that under the direction of a virtual rider, the WeBikes vehicle can be used to simulate a vehicle-rider system navigating a roadway. Finally, a simple case study demonstrates how WeBikes can be used in a road safety simulation context. The case study explores how a motorcycle-rider system behaves when performing a lane change between lanes of disparate heights, illustrating how WeBikes can provide insight into the interaction between single-track vehicle behavior and geometric roadway design.
Keywords: vulnerable road users; single-track vehicles; powered two-wheelers; vehicle dynamics; dynamic simulation; motorcycle dynamics; bicycle dynamics