# 带后轮摆动机构的遥控摩托车转弯时滑移诱发摔倒抑制

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-21089
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：针对摩托车转弯滑移诱发摔倒，提出按车速和路面条件分配辅助控制输入的优化方法，并在遥控摩托车实验中验证。

# 带后轮摆动机构的遥控摩托车转弯时滑移诱发摔倒抑制

::: v-pre
> 原文链接：[Slip-Induced Fall Suppression During Cornering for a Remotely Operated Motorcycle with a Rear-Wheel-Swing Mechanism](https://arxiv.org/abs/2610.21089)（arXiv 2610.21089 · 发布日期：2026-10-15）

**Slip-Induced Fall Suppression During Cornering for a Remotely Operated Motorcycle with a Rear-Wheel-Swing Mechanism**

针对摩托车转弯滑移诱发摔倒，提出按车速和路面条件分配辅助控制输入的优化方法，并在遥控摩托车实验中验证。

## 核心要点

- 滑移诱发摔倒难以避免，是单车事故的重要原因，且尚无实用抑制方案。
- 扩展既有前后轮转向适用模型，将摔倒抑制表述为辅助控制输入分配优化问题。
- 方法根据车辆速度与路面条件分配辅助控制输入，用于抑制转弯中的滑移摔倒。
- 在低摩擦路面5.5 m/s蛇形和合成冰转弯实验中，结果显示可成功抑制摔倒。

**验证范围与局限**：仅在遥控摩托车上，以低摩擦路面蛇形和合成冰转弯场景验证。

## 英文摘要 (Abstract)

Slip-induced falls when riding motorcycles are difficult to avoid even for expert riders and represent a major cause of single-vehicle accidents. Despite their prevalence, no practical solution has yet been proposed to suppress this phenomenon. We previously introduced a motorcycle model applicable to systems with both front- and rear- wheel steering. In this paper, we extend that model and formulate the suppression of slip-induced falls as an optimization problem that distributes assistive control inputs according to vehicle speed and road surface conditions. To evaluate the proposed method, we developed a remotely operated motorcycle and conducted experiments under two scenarios: slalom driving on a low-friction surface at 5.5 m/s, and turning maneuvers on synthetic ice to simulate driving over manholes on rainy days. The results demonstrate that our approach successfully suppresses falls under these challenging conditions.

作者：Tadashi Sumioka, Kazushi Akimoto, Takuya Tsujimura, S. Takayanagi, Kineo Tomura
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## 原始参考来源 (Sources)

- [arXiv 2610.21089：Slip-Induced Fall Suppression During Cornering for a Remotely Operated Motorcycle with a Rear-Wheel-Swing Mechanism](https://arxiv.org/abs/2610.21089)