BRiM: A Modular Bicycle-Rider Modeling Framework
T.J. Stienstra (Student TU Delft)
S.G. Brockie (TU Delft - Biomechatronics & Human-Machine Control)
Jason K. Moore (TU Delft - Biomechatronics & Human-Machine Control)
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Abstract
The development of computationally efficient and validated single-track vehicle-rider models has traditionally required handcrafted one-off models. Here we introduce BRiM, a software package that facilitates building these models in a modular fashion while retaining access to the mathematical elements for handcrafted modeling when desired. We demonstrate the flexibility of the software by constructing the Carvallo-Whipple bicycle model with different numerical parameters representing different bicycles, modifying it with a front fork suspension travel model, and extending it with moving rider arms driven by joint torques at the elbows. Using these models we solve a lane-change optimal control problem for six different model variations which solve in mere seconds on a modern personal computer. Our tool enables flexible and rapid modeling of single-track vehicle-rider models that give precise results at high computational efficiency.
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