A General 3D Road Model for Motorcycle Racing

Abstract--We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road models with the dynamics of motorcycles. Our approach considers the additional camber degree of freedom of the motorcycle body with a simplified model of the rider and front steering fork bodies. We demonstrate the effectiveness of our model by computing minimum-time racing trajectories on a nonplanar racetrack. Control-oriented vehicle models have seen widespread use for trajectory planning in consumer [1, 2] and motorsport [3, 4] applications.