Effectiveness of Actuating on Rectilinear Bicycle Braking Dynamics

Klug, Silas; Moia, Alessandro; Verhagen, Armin; Görges, Daniel; Savaresi, Sergio M.

doi:10.1016/j.ifacol.2017.08.173

Cited by 8 publications

(3 citation statements)

References 9 publications

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“…The brake decelerations we observed during unexpected braking suggest that the predominance of single brake use (usually the rear) represents a common deficiency amongst riders in terms of braking effectiveness in emergency scenarios. Previous studies demonstrated the risk of loss of stability through lateral sliding of the rear wheel during hard braking using the rear alone (Klug et al 2017), and the advantages of combined braking together with the higher braking capability of the front brake over the rear brake (Beck 2009;Wilson 2004). Optimum braking is generally achieved by applying enough force to both rear and front brakes to reduce speed quickly, while avoiding the common tendency in a stressful situation of locking up the front wheel or risking pitch-over from over-braking the front wheel (Klug et al 2017;Maier, Pfeiffer, Scharpf et al 2016).…”

Section: Discussionmentioning

confidence: 99%

“…Previous studies demonstrated the risk of loss of stability through lateral sliding of the rear wheel during hard braking using the rear alone (Klug et al 2017), and the advantages of combined braking together with the higher braking capability of the front brake over the rear brake (Beck 2009;Wilson 2004). Optimum braking is generally achieved by applying enough force to both rear and front brakes to reduce speed quickly, while avoiding the common tendency in a stressful situation of locking up the front wheel or risking pitch-over from over-braking the front wheel (Klug et al 2017;Maier, Pfeiffer, Scharpf et al 2016). The complexity of the braking manoeuvre in single track vehicles is due to the variations in load distribution between front and rear wheels during the braking process, which means that the optimum distribution of braking force front-rear also varies throughout this interval (Cossalter et al 2004).…”

Section: Discussionmentioning

confidence: 99%

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E-bikers’ braking behavior: Results from a naturalistic cycling study

Huertas-Leyva

Dozza

Baldanzini

2019

Traffic Injury Prevention

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Objective: The number of e-bike users has increased significantly over the past few years and with it the associated safety concerns. Because e-bikes are faster than conventional bicycles and more prone to be in conflict with road users, e-bikers may need to perform avoidance manoeuvres more frequently. Braking is the most common avoidance manoeuvre, but is also a complex and critical task in emergency situations, since cyclists must reduce speed quickly without losing balance. The aim of this study is to understand the braking strategies of e-bikers in real-world traffic environments and to assess their road safety implications. This paper investigates 1) how cyclists on e-bikes use front and rear brakes during routine cycling, and 2) whether this behaviour changes during unexpected conflicts with other road users. Methods: Naturalistic data were collected from six regular bicycle riders who each rode e-bikes during a period of two weeks, for a total of 32.5 hours of data. Braking events were identified and characterized through a combined analysis of brake pressure at each wheel, velocity, and longitudinal acceleration. Furthermore, the braking patterns obtained during unexpected events were compared with braking patterns during routine cycling. Results: In the majority of braking events during routine cycling, cyclists used only one brake at a time, favouring one of the two brakes according to a personal pre-established pattern. However, the favoured brake varied among cyclists: 66% favoured the rear brake and 16% the front brake. Only 16% of the cyclists showed no clear preference, variously using rear brake, front brake, or combined braking (both brakes at the same time), suggesting that the selection of which brake to use depended on the characteristics of the specific scenario experienced by the cyclist rather than on a personal preference. In unexpected conflicts, generally requiring a larger deceleration, combined braking became more prevalent for most of the cyclists; still, when combined braking was not applied, cyclists continued to use the favoured brake of routine cycling. Kinematic analysis revealed that, when larger decelerations were required, cyclists more frequently used combined braking instead of single braking. Conclusions: The results provide new insights into the behaviour of cyclists on e-bikes and may provide support in the development of safety measures including guidelines and best practices for the optimal brake use. The results may also inform the design of braking systems intended to reduce the complexity of the braking operation.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

E-bikers’ braking behavior: Results from a naturalistic cycling study

Huertas-Leyva

Dozza

Baldanzini

2019

Traffic Injury Prevention

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“…Numerical values of the parameters used for the presented simulation results are available in Ramosaj's (2023) GitLab repository. Mass distribution and inertias for the combined bike and rider were approximated from Moore's ( 2009) and Maier's (2018) data, while the Pacejka coefficients were identified from the friction measurements conducted on Schwalbe tour tires as presented in Klug's (2017) study.…”

Section: Validation Of the Simulation Modelmentioning

confidence: 99%

Development of a Hardware-in-the-Loop Test Bench for Validation of an Anti-lock Braking System on an E-Bike

Ramosaj,

Fusco,

Viennet

2023

The Evolving Scholar - BMD 2023, 5th Edition

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This article presents the development of a hardware-in-the-loop (HiL) test bench that can be used to validate an electric bicycle (e-bike) anti-lock braking system (ABS) in different test scenarios. The same e-bike can be used in a wide variety of loading conditions, such as with a child seat or panniers (mounted on the front or rear), and different types of tires. Therefore, validating the overall system—i.e., ABS and e-bike—over a wide range of parameters, such as the mass of the rider, load distribution, and tire characteristics, is challenging. The approach presented here involves interfacing a parameterizable virtual bicycle simulation model running on a real-time target machine with the physical ABS hardware under test. This article describes the derivation of an equation-based model that considers six degrees of freedom representing the in-plane longitudinal dynamics of an e-bike. The simulation model was experimentally validated against measurements made on an instrumented test bike. Tests carried out as part of this development show that the developed HiL test bench can be successfully interfaced with a commercially available ABS, enabling the overall behavior of the ABS and the e-bike to be tested and evaluated in a safe and reproducible way before testing begins on the track.

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Electric Scooter Dynamics – From a Vehicle Safety Perspective

Klinger

Edelmann

et al. 2022

Lecture Notes in Mechanical Engineering

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Effectiveness of Actuating on Rectilinear Bicycle Braking Dynamics

Cited by 8 publications

References 9 publications

E-bikers’ braking behavior: Results from a naturalistic cycling study

E-bikers’ braking behavior: Results from a naturalistic cycling study

Development of a Hardware-in-the-Loop Test Bench for Validation of an Anti-lock Braking System on an E-Bike

Electric Scooter Dynamics – From a Vehicle Safety Perspective

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