General Steady Turning of a Benchmark Bicycle Model

Abstract

We analyze general steady turns of a benchmark bicycle model in the case of nonzero applied steer torque. In a general steady turn, the lean and steer angles are constant, the velocity of the bicycle must ensure moment balance about the contact line, and some torque must be applied to maintain the constant steer angle. We identify two boundaries in lean–steer plane: first, the region of kinematic feasibility, and second, the region where steady turns are feasible. In the region of feasible steady turns, we present level curves of these steady turning velocities and steer torques. Additionally, we present level curves of mechanical trail in the lean–steer plane.