Comparison of experimental data to a model for bicycle steady-state turning

Abstract

The steady-state turning of a bicycle arises when the bicycle/rider system negotiates a constant radius turn with constant speed and roll angle. This paper explores steady-state turning by employing a bicycle instrumented to measure steering torque, steering angle, and bicycle speed, acceleration, and angular velocity. We report data obtained from 134 trials using two subjects executing steady turns defined by nine different radii, three speeds, and three rider lean conditions. A model for steady-state turning, based on the Whipple bicycle model, is used to interpret the experimental results. Overall, the model explains 95.6% of the variability in the estimated bicycle roll angle, 99.4% of the variability in the measured steering angle, and 6.5% of the variability in the measured steering torque. However, the model explains 56.6% of the variability in steering torque for the subset of trials without exaggerated rider lean relative to the bicycle frame. Thus, the model, which assumes a rigid and non-leaning rider, reasonably predicts bicycle roll and steering angles for all rider lean conditions and steering torque without exaggerated rider lean. The findings demonstrate that lateral shifting of the bicycle/rider centre of mass strongly influences the steering torque, suggesting that rider lean plays an important role in bicycle control during steady-state turning. By contrast, the required steering angle is largely insensitive to rider lean, suggesting that the steering angle serves as a superior cue for bicycle control relative to the steering torque.