Browse Topic: Two or three wheeled vehicles

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Pre-Crash Scenario Analysis and Generation for Integrated Safety System Virtual Testing with Real Accident Data2026-01-0062To be published on 04/07/2026
Integrated active and passive safety protection systems have made substantial contributions to reducing traffic accidents and mitigating human injuries. However, assessing such systems through vehicle collision tests is limited, as this approach can not cover the wide range of accident scenarios. To address this gap, identifying and generating representative pre-crash scenarios from real-world accidents provides key boundary conditions for the set up of virtual test scenarios. In this study, we used the Future Mobile Traffic Accident Scenario Study (FASS) dataset to reconstruct 112 two-wheeler accidents. For each case, we extracted pre-crash dynamic information, static attributes, and environmental context. An auto-encoder was employed to encode high-dimensional features of scenarios, and K-means clustering was applied to categorize the accidents into eight representative pre-crash scenarios. For each scenario, we examined the motion states of participants and further compared the
Wang, Guojie, Gao, Xin, Liu, Siyuan, Liu, Jiaxin, Li, Quan, shi, liangliang, Nie, Bingbing
Rigid Two- and Three-Wheeled Vehicle Roll Over vs. Pitch Over Threshold Models: Testing and Analytical Modifications2026-01-0538To be published on 04/07/2026
The phenomenon of bicycle pitch over is simple in concept, yet determining threshold criteria for pitch over has yet to be well established, particularly when it comes to determining whether or not a bicycle’s front wheel will roll over a particular obstacle or not. Two prior SAE papers have laid out 3 different approaches to determining this threshold criteria; however, all three remain untested and thus unvalidated. To test the two analytical models, the dimensions and center of gravity location for a test rider on a tricycle were measured, and the test subject system was ridden over a series of progressively taller square edge obstacles until the tricycle transitioned from rolling over to stopping/pitching over. The test speeds were varied between 5 and 10 mph to keep the tricycle from fully pitching over and/or damaging the test tricycle. From this testing, it was demonstrated that the test tricycle and rider was able to ride over taller obstacles than calculated by the analytical
Sweet, David Michael, O'Brien, Nathan, Bretting, Gerald
Modal Analysis Approach on Vehicle Transient Behavior Considering Roll and Pitch Dynamics2026-01-0210To be published on 04/07/2026
Although the basis of vehicle dynamics is planar motion, accompanied roll and pitch motion also affect not only the planar motion but also the driver‘s subjective evaluation. Many studies indicate that the phase difference between roll and pitch during turn-in seemingly influences the driver‘s subjective evaluation. In a previous study conducted in 1971, R.S. Sharp performed modal analysis of the motorcycle's sprung mass rigid body motion, and classified the major oscillation mode as Capsize, Weave, and Wobble and the sensitivity analysis were conducted on the effect of speed and design specifications for each mode. These findings have become a fundamental theory in the design of motorcycle performance. On the other hand, in the vehicle dynamics analysis that consider roll and pitch, the characteristics have been understood through parameter studies and equivalent models, and the oscillatory and damping properties have been analyzed using characteristic roots. However, there have been
Kusaka, Kaoru, Yuhara, Takahiro, Koakutsu, Shingo
Embedded Coding Agent: Natural-Language Driven Generation of AUTOSAR & Non-AUTOSAR Embedded C/C++ code2026-01-0105To be published on 04/07/2026
Embedded software development in the automotive sector is becoming more demanding as engineers balance performance, safety, and certification requirements. Traditional approaches such as manual coding or model-based workflows require significant effort in writing boilerplate code, ensuring AUTOSAR compliance, and preparing verification artifacts for audits. Commercial tools like MathWorks Simulink Embedded Coder already provide model-to-code generation capabilities, but these solutions are often costly and may not be viable for budget-sensitive domains such as two-wheelers and three-wheelers. This creates a strong need for alternative, more accessible approaches that can deliver efficiency without compromising on quality. This paper introduces an embedded coding agent designed to address this gap. The agent accepts natural language or structured prompts and generates AUTOSAR-compatible ARXML as well as embedded C and C++ implementations. Unlike general-purpose coding assistants, it is
Daware, Kartik
Development of Plug-In Hybrid Motorbike and Analysis towards Sustainable Urban Mobility2026-28-0111To be published on 02/12/2026
The transportation system is one major catalyst to urban ecological imbalance. In developing countries, two-wheelers are considered a major mode of urban personal transportation because of their compactness, easy maneuver in heavy traffic and good fuel efficiency. In India, middle and lower middle-class people prefer to choose two wheelers, and these vehicles are dominantly fuelled by gasoline. Although, the energy consumption by a two-wheeler is comparatively less than that of a four-wheeler, they use about 60% of the nation’s petroleum for on-road vehicles and the impact on urban air quality and climatic change is significantly high. This high proportion of gasoline utilization and emission contribution by two wheelers in cities demand greater attention to improve urban air quality and near-term energy sustainability. Electrification of two-wheelers through the application of a plug-in hybrid idea is a promising solution. A plug-in hybrid motorbike was developed by putting forth a
Kannan, Prashanth, Shaik, Amjad, Talluri, Srinivasa Rao
Computational Study on Dynamic Handling Performance of a Retro Fitted Electric Two-Wheeler Using 125cc Powered ICE Reference2026-28-0047To be published on 02/12/2026
With the development in motor technology and battery technologies, the scope for a low-cost EV has been increasing in India. There remains an after-mark potential for conversion of an ICE powered two-wheeler to an EV power train. Such a move reduces the carbon footprint from the vehicle drastically and is still being explored. This study investigates the effect of replacing the ICE with an electric motor in a 125cc motorcycle, with a particular focus on vehicle handling performance using Slalom test. The two wheelers were modelled using calculated mass properties and estimated / calculated moments of inertia using CAD for both ICE and electric powertrains. The electric propulsion system took into consideration the role of a battery pack in the mass and MI calculation. The framework with degrees of freedom is well established in BIKESIMTM simulation environment. A slalom test with automatic gear shift and throttle to maintain speed of the vehicle was set-up to estimate the handling
Sankarasubramanian, Hariharan, M, Shaghasra, V, Ramprathap
Development of Advanced Rider Assistance System (ARAS) for Electric Motorcycles: A Level-1 Collision Avoidance and Emergency Braking Prototype Using Ultrasonic Sensors2026-28-0118To be published on 02/12/2026
This paper presents the design, development, and validation of an Advanced Rider Assistance System (ARAS) tailored for electric motorcycles, with a specific focus on a Level-1 collision-avoidance and emergency-braking prototype employing ultrasonic sensing. The study is motivated by the disproportionately high accident exposure of two-wheeler riders and the slow adoption of ARAS technologies relative to the well-established Advanced Driver Assistance Systems (ADAS) in passenger vehicles. The proposed system utilizes front and rear ultrasonic sensors operating at 40 kHz, offering a measurement range of 2 cm to 4 m with ±1% accuracy, and maintaining reliable performance at motorcycle lean angles of up to 30°. Sensor data are processed using an STM32-series microcontroller running a real-time collision-risk estimation algorithm based on obstacle distance and relative velocity. A configurable safety threshold (typically 3 m) initiates a hierarchical warning strategy comprising visual
Deepan Kumar, Sadhasivam, Karu, Ragupathy, Karthick, K N, R, Vishnu Ramesh Kumar, Kumar, V, Manojkumar, R, M, Karthick, M, Rishab
Totem-Pole PFC and LLC Resonant Converter based 6.6kW On-Board Charger for LEV Applications2026-26-01601/16/2026
As light electric vehicles (LEVs) gain popularity, the development of efficient and compact on-board chargers (OBCs) has become a critical area of focus in power electronics. Conventional AC-DC topologies often face challenges, including high inrush currents during startup, which can stress components and affect system reliability. Furthermore, DC-DC converters often have a limited soft-switching range under light load conditions, leading to increased switching losses and reduced efficiency. This paper proposes a novel 6.6 kW on-board charger architecture comprising a bridgeless totem-pole power factor correction (PFC) stage and an isolated LLC resonant DC-DC converter. The main contribution lies in the specific focus on enhancing startup behavior and switching performance. In PFC converters, limiting inrush current during startup is crucial, especially with fast-switching wide-bandgap devices like SiC or GaN. Conventional soft-start techniques fall short in of ensuring smooth voltage
Patil, Amruta, Bagade, Aniket
Pre-Crash Characteristics of Motorized Two-Wheeler Crashes on Indian Roads2026-26-00341/16/2026
India has emerged as the world’s largest market for motorized two-wheelers (M2Ws) in 2024, reflecting their deep integration into the country’s transportation fabric. However, M2Ws are also a highly vulnerable road user category as according to the Ministry of Road Transport and Highways (MoRTH), the fatality share of M2W riders rose alarmingly from 27% in 2011 to 44% in 2022, underlining the urgency of understanding the circumstances that lead to such crashes. This study aims to investigate the pre-crash behavior and crash-phase characteristics of M2Ws using data from the Road Accident Sampling System – India (RASSI), the country’s only in-depth crash investigation database. The analysis covers 3,632 M2Ws involved in 3,307 crash samples from 2011 to 2022, representing approximately 5 million M2Ws nationally. Key variables examined include crash configuration, collision partner, road type, pre-event movement, travel speed, and human contributing factors. The study finds that straight
Govardhan, Rohan, Padmanaban, Jeya, Jethwa, Vaishnav
A Systematic Debugging Methodology for Identifying Electric Vehicle Level EMC Issues2026-26-05251/16/2026
Electric vehicles present unique challenges in electromagnetic compatibility testing due to compact packaging, high-frequency switching systems. This paper presents a systematic debugging methodology for identifying radiated emission and radiated immunity issues in these EV platforms. A comprehensive approach is outlined, covering radiated emission measurement; Bulk Current Injection based immunity simulation, and near-field probing techniques. For RI evaluation, BCI testing in the 20 to 400 MHz range is used to simulate radiated threats on the vehicle's power and signal harnesses and handy transmitter near field injections for higher frequency simulation. For RE diagnosis, conducted emission measurements on vehicle harnesses are performed using current probes to capture high-frequency currents. Additionally, near-field electric probes are used at the component to identify dominant noise sources such as DC-DC converters, Motor control unit, and improperly grounded shielding. Case
M, Gokul, Patel, Jinay, Mulay, Abhijit B
Developments in 2-Wheeler Electric Vehicle Architecture2026-26-01991/16/2026
Electric vehicles are becoming more popular due to the low-cost investment for individual daily usage, such as traveling to nearby places, offices, and schools. There are environmental benefits that make them green and produce less pollution compared to traditional vehicles. Two-wheeler electric vehicles (EVs) have more electronic components compared to two-wheeler internal combustion engine (ICE) vehicles. The major components in two-wheeler EVs are the motor and battery. The traction motor is driven by the battery, Battery is a primary energy source in 2Wheeler electric vehicle. An electric vehicle comprises different major electronic components such as the battery management system (BMS), motor control unit (MCU), human-machine interface (HMI), and, in some cases, a vehicle control unit (VCU) as well. Considering a 48V architecture or less than 60V provides advantages of low system cost as it requires less effort for safety measures. Furthermore, this paper explores diverse
Karunakar, Praveen, K R, Amogh
Comparative Study of EV Transmission Performance Used in Various Vehicle Segments2026-26-05841/16/2026
The transition to electric mobility has accelerated the evolution of drivetrain technologies, particularly in the design and performance of electric vehicle (EV) transmissions. Unlike traditional internal combustion engine (ICE) vehicles, EVs utilize simpler yet diverse transmission systems cater to specific performance, efficiency, and application requirements. The growing adoption of electric vehicles across diverse transportation sectors has intensified the need for optimized electric transmission systems as per vehicle requirements. This research presents a comparative study of electric transmission performance across various vehicle segments, including Passenger Cars, Small commercial Vehicle, Commercial three-wheelers and All-terrain vehicles. The study evaluates different transmission configurations namely single-speed and multi-speed, based on key performance metrics such as Drag loss and Efficiency. Through a combination of literature review, and performance benchmarking, the
Jain, Sankalp, P, Ekhesh
Multi-Band Frequency Approach to Correlate Proving Ground and Road Simulator for an Electric Two-Wheeler2026-26-05561/16/2026
Real-world usage subjects two-wheelers to complex and varying dynamic loads, necessitating early-stage durability validation to ensure robust product development. Conducting a full life-cycle durability testing on proving grounds is time-consuming, extremely difficult for the riders involved, and costly, which is why accelerated testing using rigs such as the road simulator system have become a preferred approach. The use of road simulators necessitates, accurately measured inputs and precise simulation to ensure proper actuation of the rig, thereby enabling realistic representation of road undulations. This paper covers two important aspects essential for achieving an accurate and clear representation of road simulation in a 4-DOF road simulator, encompassing both longitudinal and vertical simulations at the front and rear of the vehicle. The first aspect involves the development of an instrumentation strategy for the two-wheeler, with careful identification of directionally sensitive
Ganju, Shubham, V, Vijayamirtharaj, Prasad, Sathish, R S, Mahenthran
Real-Time Helmet Detection and Closed-Loop Enforcement System for Two Wheelers2026-26-06501/16/2026
Asian countries capture a significant share of global two-wheeler usage, with India consistently ranking among the top three countries. 2 wheelers are a significant portion of road traffic and contribute heavily to the national burden of road fatalities. Despite regulatory mandates, helmet non-compliance remains widespread due to limited enforcement reach and behavioural inertia. The current strategies for enforcement, such as traffic policing or external camera-based surveillance, are reactive, infrastructure-dependent, are ineffective at scale. To address these limitations, we propose system that will detect if the user is wearing the helmet. The system is designed and packaged to be integrated into the 2-wheeler directly and then execute functions in real-time for helmet noncompliance. The software algorithm is an AI-powered, vision-based system that leverages deep learning techniques for helmet detection. This model is enforced with a custombuilt dataset accommodating cultural and
Kandimalla, Om Mahalakshmi, Shah, Ravindra, Karle, Ujjwala
Air-Cooled Fuel Cell for Low Power Mobility Application2026-26-02551/16/2026
Fuel cell technology is gaining prominence as a clean, efficient, and scalable power solution for electric mobility, addressing key limitations of conventional battery systems such as long charging times, limited range, and declining performance in high-utilization applications. Proton Exchange Membrane Fuel Cells (PEMFCs) offer high energy density, rapid refueling, and robust operation under varying load conditions, making them particularly suitable for light electric vehicles such as two-wheelers, e-rickshaws & range extenders. Within the broader category of PEMFCs, air-cooled fuel cells present unique advantages for mobility applications. Their simplified architecture eliminates the need for complex liquid cooling systems, leading to lower system weight, reduced component count, and easier integration. This translates into a compact, lightweight, and cost-effective power unit—ideal for vehicles where space, weight, and maintenance constraints are critical. The market for air-cooled
Singh, Sauhard, Chaudhari, Chinmay, Sundarraman, Meenakshi, Sonkar, Kapil, Bera, Tapan, Badhe, Rajesh, Srivastva, Umish, Sharma, Alok
CS Structure: New Metallic Catalyst Substrate Generation for 2- and 3-Wheeler Applications2026-26-02201/16/2026
Affordable, efficient and durable catalytic converters for the two and three-wheeler industry in developing countries are required to reduce vehicle emissions and to maintain them at a low level; and therefore, to participate in a cleaner and healthier environment. Especially, metallic catalyst substrates developed by Emitec Technologies GmbH with structured foils like the Longitudinal Structure (LS), or LS-Design® are fully compatible to this effort with more than 70% share of produced 2/3 Wheelers metallic catalyst substrates for the Indian market in 2024. One decade after the market introduction of this LS structure, Emitec Technologies GmbH will introduce now a new generation of foil structure: the Crossversal Structure (CS) or CS-Design®, that improves further the affordability, the efficiency of metallic catalytic converters, keeping the durability at same level as previous substrate generation. The paper will briefly review the development of metallic substrates for 2/3 wheelers
Jayat, Francois, Seifert, Sven, Bhalla, Ashish, Ganapathy, Narayana Prakash
Technology Trends and Market Adoption of Electric Motors in NEVs2026-26-01611/16/2026
In recent years, the global automotive sector has undergone transformation at an unprecedented pace, driven by environmental concerns, rapid technological advancements, government incentives, and evolving consumer expectations. The rapid uptake of electric motors as the main propulsion system in New Energy Vehicles (NEVs) has been a key factor in this change. This study examines the technological development of electric motors in four different vehicle segments: passenger cars, heavy-duty commercial vehicles, three-wheelers, and two-wheelers. It identifies the leading electric motor technologies utilized in each of these segments, along with their prevalence across key globally regulated markets. The study offers a thorough analysis of current e-motor technologies and their market distribution by referencing historical data and existing scholarly literature. A regional analysis is conducted to examine variations in manufacturer preferences and deployment strategies, supported by visual
Singh, Ashish, Ray, Rakesh Kumar
Effects of Battery Integration in Modal Behaviour of Electric Two Wheeler Frame2026-26-03101/16/2026
This research investigates the dynamic characteristics of an electric two-wheeler chassis through a combined experimental and numerical approach, and understands the contribution of battery towards overall behaviour of the frame in a structural manner. The study commences with the development of a detailed CAD model, which serves as the basis for Finite Element Analysis (FEA) to predict the chassis's natural frequencies and mode shapes. These numerical simulations offer initial insights into the structural vibration behavior crucial for ensuring vehicle stability and rider comfort. To validate the FEA predictions, experimental modal analysis is performed on a physical prototype of the electric two-wheeler chassis using impact hammer excitation. Multiple response measurements are acquired via accelerometers, and the resulting data is processed to extract experimental modal parameters. The correlation between the simulated and experimental mode shapes is quantitatively assessed using the
Das Sharma, Aritrya, Iyer, Siddharth, Prasad, Sathish, Anandh, Sudheep
Battery Thermal Management Approach for Two-Wheeler Electric Vehicles – An Indian Case Study2026-26-01511/16/2026
India's electric 2-wheeler (E2W) market has witnessed fast growth, driven by lucrative government policies. The two-wheeler segment dominates the Indian automotive market, accounting for the largest share of total sales. Consequently, the manufacturers of 2-wheelers are developing new electric vehicles (EV) tailored for the Indian market. However, the Indian EV market has witnessed multiple fire accidents in recent years, raising safety concerns among consumers and industry stakeholders. These incidents highlight key weakness in battery thermal management systems (BTMS), particularly during charging. Most existing E2W BTMS relies on passive (natural) air cooling, which has been associated with fire incidents due to its inefficiency in heat dissipation, particularly during charging in India's high-temperature environment. Therefore, it is imperative to build thermally viable and economical BTMS for the growing E2W vehicles with fast charging capability. FEV is actively developing the
Raut PhD, Ankit, Hiremath, Vinodkumar S, Emran, Ashraf, Garg, Shivam, Berry, Sushil
Feasibility and Performance of Post-Quantum Cryptography on Embedded Systems for Two-Wheeler Security2026-26-06221/16/2026
The proliferation of connectivity features (V2X, OTA updates, diagnostics) in modern two-wheelers significantly expands the attack surface, demanding robust security measures. However, the anticipated arrival of quantum computers threatens to break widely deployed publickey cryptography (RSA, ECC), rendering current security protocols obsolete. This paper addresses the critical need for quantum-resistant security in the automotive domain, specifically focusing on the unique challenges of two-wheeler embedded systems. This work presents an original analytical and experimental evaluation of implementing selected Post-Quantum Cryptography (PQC) algorithms, primarily focusing on NIST PQC standardization candidates (e.g., lattice-based KEMs/signatures like Kyber/Dilithium), on microcontroller platforms representative of those used in two-wheeler Electronic Control Units (ECUs) - typically ARM Cortex-M series devices characterized by limited computational power, memory (RAM/ROM), and strict
Mishra, Abhigyan
To Study and Compare Communication Protocol for Fast Charging in Electric Two-Wheeler with Respect to CCS 2.0: An Indian Perspective2026-26-01981/16/2026
This comprehensive research presents an in-depth analysis of communication protocols essential for implementing fast charging systems in India's rapidly expanding electric two-wheeler and three-wheeler market. As India witnesses unprecedented growth in electric mobility, with two-wheelers representing over 95% of current EV sales, the establishment of standardized, secure, and efficient charging protocols becomes paramount for widespread adoption. This study examines the current landscape of AC charging methodologies, evaluates the technical and economic feasibility of DC fast charging implementation, and provides detailed comparative analysis of existing international standards including IS 17017-25, IS 17017-31, ChaoJi, and CCS 2.0. The research concludes with strategic recommendations for developing cyber-secure, cost-effective charging infrastructure specifically tailored to meet India's unique market requirements and operational constraints.
Uthaman, Sreekumar, Mulay, Abhijit B
Riding characteristics Analysis and Comparison of Shared Two-Wheeled Vehicles2025-99-041312/10/2025
This paper explores riding characteristics of Shared Two-Wheeled Vehicles (STWV, including Shared Bicycles (SB) and Shared Electric Bicycles (SEB)) by using order data of nine cities. We first compute the mean values of three key elements of riding characteristics and make a comparison between different cities. It shows that STWV primarily serve short trips. Then, we use Python to fit the distribution of STWV riding distance and the distribution of SEB riding speed. We find that (1) Exponential distribution fits SB riding distance and Rayleigh distribution fits SEB riding distance. The regularity of the distribution for SB is more universal than that of SEB. (2) Modified standard logistic distribution in this paper fits SEB riding speed. The findings above indicate that SEB is not governed by the rules that govern human dynamics, thus expanding the scope of two-wheeled transportation service and introducing greater uncertainty.
Liu, Lu, Wei, Liying, Luo, Sida
Real Driving Emission (RDE) Assessment for Motorcycles Using a Random Cycle Generator (RCG)2025-32-007111/3/2025
To conserve the atmospheric environment, regulations on vehicle exhaust gas emissions have become increasingly stringent. For Light Duty Vehicles (LDVs), Real Driving Emission (RDE) assessments based on Portable Emission Measurement Systems (PEMS) have been introduced. However, the application of PEMS measurements to motorcycles presents several challenges, including reduced measurement accuracy owing to the small engine displacement and number of cylinders and increased motorcycle weight owing to PEMS installation. Therefore, an alternative evaluation method that does not rely on the PEMS is required. In this study, we developed a Random Cycle Generator (RCG) to provide an evaluation method that can be used in a laboratory environment. The RCG enables the evaluation of driving cycles by combining different motorcycle speed patterns. It can generate arbitrary driving cycles that consider the average and upper limits of regional driving characteristics, thereby enabling accurate
Matsuoka, Masahiro, Hirai, Hiroshi, Ito, Takayuki
Overcoming Challenges in Motorcycle Exhaust Flow Measurement: A Study on Measurement Accuracy and Systematic Effects of an Annubar-Based Approach2025-32-001611/3/2025
Accurate exhaust mass flow measurement is critical for Real Driving Emission (RDE) testing; however, it is particularly challenging for motorcycles due to variations in chemical composition, strong pulsations and even reverse flow effects at low engine speeds. Traditional differential pressure-based flow meters often struggle under these conditions, particularly in low-speed and low-load operation. This study evaluates the feasibility and accuracy of an Annubar-based exhaust flow meter (EFM) designed to address these challenges by means of assessing eight motorcycles with single-, two-, and four-cylinder engine configurations. The EFM performance is evaluated via correlation analysis with laboratory-grade reference instruments and engine control unit (ECU) data. Additionally, systematic effects such as pulsation behavior, spectrogram analysis, and the influence of engine load and speed are investigated. The results demonstrate a strong correlation between EFM and reference measurements
Schurl, Sebastian, Hafenmayer, Christian, Lankau, Mathias, Brenn, Günter, Schmidt, Stephan, Kirchberger, Roland
Knock Sensors for Two Wheelers Applications2025-32-007911/3/2025
This paper describes the design and characteristics of the knock sensor. The sensor is already used as a commodity product for automotive applications and used by all automotive OEMs for spark ignited combustion engines. With the arrival of the electronic fuel injection on the two wheelers, further optimization of the combustion can be obtained. Although there are many publications on the engine knock strategy, little is known publicly about the sensor itself. The knock sensor is an accelerometer based on a piezoelectric component; it provides an analog signal of the engine vibration. The Electronic Control Unit will filter the signal according to a specific strategy and defines the presence and intensity of the engine knock. The ECU will act accordingly on the ignition timing. The inner structure as well as the mechanical and electrical interface are described in this article.
van Est, Jeroen, Prieu, Corentin
Obstacle Avoidance Capability of a Personal Mobility Vehicle (PMV) with an Inward Tilting Mechanism under Braking Conditions2025-32-003311/3/2025
This study delves into the dynamics of three-wheeled Personal Mobility Vehicles (PMVs) equipped with an active tilting mechanism. In three-wheeled vehicles with a single front wheel, the risk of tipping over during sudden braking and sharp turning is often highlighted. To address this issue, the authors have focused their research on three-wheeled PMVs with two front wheels and one rear wheel, equipped with an active tilting mechanism. Previous studies using dynamic simulation tools have demonstrated that such PMVs possess higher obstacle avoidance capabilities compared to motorcycles and even passenger cars. However, these simulations were based on the assumption of avoidance maneuvers without braking, and no studies have yet examined the behavior of three-wheeled PMVs with an active tilting mechanism under the more complex conditions of braking during turning. Therefore, prior to conducting dynamic simulations under braking and turning conditions, this study aims to clarify the
Haraguchi, Tetsunori, Kaneko, Tetsuya
Traction Voltage Level in Two-Wheeler: Considerations on E-Motor Performance2025-32-009311/3/2025
The electric power of most electric two-wheelers on the market ranges between 2 and 12 kW. For this power range, the traction voltage level is mostly between 48V and 96V. There appears to be no strong correlation between electric power and traction voltage, suggesting that the current voltage choice is rather arbitrary. This paper briefly describes the e-motor model used in this study and introduces variations of four design parameters: DC voltage, maximum phase current, e-motor active length, and the number of turns in the e-motor winding. The consequences of these variations on peak performance, continuous performance, and efficiency maps are presented. Specific cases of parameter combinations are also studied. Two e-motors designed for 48V and 96V systems will be compared, showing that size, cost, and performance (power and losses) are equivalent. Additionally, the paper discusses how increasing the maximum phase current rating of the inverter can improve e-motor power in a 48V
Albert, Laurent
RDE Testing of Small Motorcycle in Indian Road Conditions and Study the Impact of Instrumentation on Emission and Fuel Economy2025-32-007511/3/2025
This paper presents measurement results of emissions and fuel economy on real-world driving of two-wheelers in India using a state-of-the-art FTIR PEMS technology. The study aimed to characterize the emissions profiles of a small motorcycle under typical Indian driving conditions, including congested urban traffic and highway driving. This is the continuation of the study conducted previously on bigger motorcycle using gas analyzer [1], with necessary adaptations to suit the specific conditions of Indian roads and traffic. Key parameters such as NOx, CO, CO2 and Fuel consumption were measured during real-world driving cycles and comparison is done with standard WMTC emission testing cycle. The findings of this study provide valuable insights into the actual on-road emissions of two-wheelers in India, which can be used to develop more accurate emission models and guide the development of cleaner and more efficient two-wheeler technologies. Key Considerations: Specifics of Indian Driving
Agrawal, Rahul, Jaswal, Rahul, Yadav, Sachin
Study of the Relationship between the “Lean-Over” Characteristics of Motorcycles and Vehicle Specifications, Report 12025-32-003411/3/2025
This study investigates the dynamic characteristics of the steering handlebar, termed "lean-over characteristics," by combining unmanned bicycle experiments with frequency response analysis. The focus is on the frequency response function from external lateral force to roll angle and steering angle, with particular attention to the relationship between these outputs. Subjective evaluations conducted by test riders revealed noticeable differences in steering feel between the two bicycle configurations. These differences were quantitatively explained by the gain and phase characteristics of the FRF between roll angular angle and steering angle, especially at approximately 7 Hz. The origin of this dynamic behavior was identified as zeros in the transfer function of roll angle. At this frequency, the external moment input and the inertial response of the vehicle body cancel each other out, resulting in suppressed roll motion and an enhanced steering response. Numerical simulations
Sakai, Hideki, Nakagawa, Yoshihiro, Tezuka, Yoshitaka, Yamashita, Hiroki, Miyagishi, Shunichi
Development of Anti-SideSlip Control for Motorcycles Using IMU2025-32-003711/3/2025
In motorcycle racing and other competitions, there is a technique to intentionally slide the rear wheel to make turns more quickly. While this technique is effective for high-speed riding, it is difficult to execute and carries risks such as falling. Therefore, an anti-sideslip control system that suppresses unintended or excessive sideslip is needed to ensure safe, natural, and smooth turning. In anti-sideslip control, the slip angle is usually used as a control parameter. However, for motorcycles, it is necessary to know the absolute direction of the vehicle's movement. To determine this, GPS or optical sensors are required, but using such sensors for driving is costly and may not provide accurate measurements due to contamination or other environmental factors, making it impractical. Therefore, an anti-sideslip control system was developed by calculating another parameter that indicates the characteristics of the slip angle, without measuring the slip angle itself, thus eliminating
Nakano, Kyosuke, Kawai, Kazunori, Takeuchi, Michinori
Assessment of Electrification Potential for Hand-Held Powertools and Two-Wheelers2025-32-009411/3/2025
The reduction of the CO2 footprint of transport vehicles is a major challenge to minimize the harmful impact of technology on the environment. Beside passenger cars and light and heavy-duty vehicles, this affects also the two-wheeler category and the non-road mobile machinery (NRMM). One promising path for the de-carbonization is the transition from fossil-fuel powered ICE powertrains to electric powertrains. Several examples of electrified powertrains showcase possibilities for small hand-held power-tools or small mopeds and scooters. As the powertrain categories two-wheeler and NRMM are very diversified and consist of various sub-categories and sub-classes with many different applications, the feasibility of electrification for the whole category cannot be judged by few examples. In this publication, a methodology for assessing the electrification potential of hand-held power tools and two-wheelers is shown. The method uses 4 different factors, which determine the feasibility for
Schmidt, Stephan, Schacht, Hans-Juergen, Weller, Konstantin, Absenger, Johann Friedrich
Development of Electronic Control in Strong Hybrid Motorcycle2025-32-009111/3/2025
In response to the growing demand for environmental performance, the mobility industry is actively developing electrification, and in particular, the use of Battery Electric Vehicles (BEV) in commuting motorcycles is advancing. However, in the case of vehicles for leisure, which require high riding performance, there are problems such as cruising range and charging time, and there are currently few mass-produced models. Therefore, we proposed a Hybrid Electric Vehicle (HEV) type Motorcycle (MC) to achieve both environmental performance and high riding performance by means other than BEV. The proposed vehicle is equipped with a strong type hybrid system in which an engine and a drive motor are connected in parallel via a hydraulic electronically controlled clutch. It is possible to drive only by motor (EV driving) or by hybrid driving powered by both the engine and the motor (HEV driving). In order to improve environmental performance, it is necessary to develop a function for switching
Obayashi, Kosuke, Terai, Shohei, Jino, Kenichi, Kawai, Daisuke
Investigation of Driving Characteristics for Road Alignments with High Traffic Accident Rates on Hilly and Mountainous Roads Using a Motorcycle Simulator2025-32-003511/3/2025
Single motorcycle accidents are common in Nagano Prefecture where is mountainous areas in Japan. In a previous study, analysis of traffic accident statistics data suggested that the fatality and serious injury rates for uphill right curves and downhill left curves are high, however the true causes of these accidents remain unclear. In this study, a motorcycle simulator was used to evaluate the driving characteristics due to these road alignments. Evaluation courses based on combinations of uphill/downhill slopes and left/right curves were created, and experiments were conducted. The subjects of the study were expert riders and novice riders. The results showed that right curves are even more difficult to see near the entrance of the curve when accompanied by an uphill slope, making it easier to delay recognition and judgment of the curve. Expert riders recognized curves faster than novice riders. Additionally, expert riders take a large lean of the vehicle body, actively attempted to
Kuniyuki, Hiroshi, Katayama, Yuta, Kitagawa, Taisei, Numao, Yusuke
Ultralightweight Emission Measurement Systems for Motorcycles: Accuracy and Practicality in RDE Testing2025-32-001111/3/2025
Real Driving Emission (RDE) testing for motorcycles presents unique challenges due to the motorcycle’s lightweight construction, limited mounting space, and sensitivity to added mass and aerodynamic drag. Full-functional automotive Portable Emission Measurement Systems (PEMS), while highly accurate, are often impractical for two-wheelers as their weight and size can alter driving resistances, fuel consumption, and emission profiles, but also complicate installation and probably effect the drivability of the vehicle. To address these limitations, lightweight alternatives such as Mini-PEMS and ultralightweight alternatives such as Sensor-based Emission Measurement Systems (SEMS) offer compact, low-power solutions tailored for small vehicles. SEMS are typically equipped with lower cost sensors and low-tech gas conditioning systems compared to PEMS. Due to this these systems may not meet regulatory homologation requirements. Nevertheless, they provide justifiable accuracy for many real
Schurl, Sebastian, Lienerth, Peter, Japs, Leonid, Schroeder, Matthias, Schmidt, Stephan, Kirchberger, Roland
Computational Analysis for Vehicle Suitability for EV Retro Fitment: An Approach for Faster Transition to Electric Mobility2025-28-040010/30/2025
The shift from internal combustion engine technology to electric vehicles (EV) based mobility system has to be made quickly to achieve the government goal of having 30% electric based mobility by 2030. Also, some studies suggest that a good number of two wheelers having better health, are discarded because of completion of registration time. To cater these issues, retrofitting of these vehicles to electric based systems is one of the solutions. Also, at present, the decision on the suitability of the vehicle for retrofitting is made based on a vehicle inspection-based methodology which can lead to human error. In the present work, a computation program is devised using programming languages that can help in making a decision on the suitability of the vehicle for retrofitting to EV-based technology. The program uses key parameters that play a significant role in taking decision on suitability to retrofit. The program was then made available to the users, who needs their two-wheeler
Vashist, Devendra, Jain, Mohit, Jain, Jatin
Development of Electric Vehicle Motor Test Rig for Performance Analysis2025-28-038010/30/2025
Electric two-wheeler testing before they are introduced in the market is one of the essential features needed by the certification agencies. Different types of test bench are available for measuring the torque and power from the electric two-wheeler that includes eddy current based motor test bench and mechanical based loading benches. In the present work an electric motor bench is designed and developed that takes care all features of electric two wheelers. The power supply to the motor is done through convertors and controller while mechanical loading is applied through belt. The other features that are kept in the rig includes lighting system and speed controller for the motor. The design is developed for variable outer diameter of electric two-wheeler testing. Tests were conducted on the developed rig. Test results were compared with electric motor specifications and were found to be in good agreement
Vashist, Devendra, Verma, Kartik, Chamok, Fahim, Tewatia, Bharat, Rajput, Neeraj
Numerical Simulation and Optimization of Engine Cooling System Based on One-Dimensional and Three-Dimensional Coupling Analysis Method03-18-07-004010/29/2025
The design of motorcycle engine cooling systems is often hampered by a trade-off between computational efficiency and simulation accuracy, making optimized design iterative and costly. A streamlined, coupled 1D–3D methodology, validated across diverse engine configurations, is needed to address this challenge. This study develops and validates an iterative simulation framework to efficiently optimize cooling systems for various motorcycle engines. The 1D system model defines the performance targets, while 3D CFD analysis enables detailed component optimization (water jackets, radiator airflow); an iterative process ensures the target fulfillment. The 1D–3D coupling analysis methodology is applied to single-, two-, and four-cylinder engines. Results show that the coolant flow velocity within the water jackets are sufficient to ensure effective heat removal of engines and confirms the rational layout design of water jackets. The radiator inlet coolant temperature for the original design
Tan, Libin, Yuan, Yuejin
Experimental Evaluation of Behavior Perception and Prediction Methods in Automated Port Logistics Operations2025-99-006010/17/2025
With the rapid development of autonomous driving technologies, intelligent ports, particularly autonomous logistics, have become the focus of industry attention. Ensuring safe and efficient operations require port management systems to perceive and predict the behaviors of people and vehicles. In the filed of behavior perception, research efforts have primarily focused on the detection and tracking of vehicles, pedestrians, and obstacles under various sensor configurations. Common approaches include vision-based, LiDAR-based, and multi-sensor fusion methods. In terms of behavior prediction, existing approaches can be broadly categorized into four paradigms: model-driven, data-driven, environment-assisted, and anomaly prediction methods. Model-driven approaches rely on physical and motion models, while data-driven approaches utilize deep learning techniques. Environment-assisted approaches integrate prior knowledge such as maps, while anomaly prediction focus on identifying unexpected
Lu, Zhiyong, Wang, Xiyuan, Liu, Shiqu, Yang, Zheng, Li, Hao, He, Xiaofei
A Dictionary of Terms for the Dynamics and Handling of Single Track Vehicles (Motorcycles, Scooters, Mopeds, and Bicycles)J1451_202508 (Current)8/15/2025
Terminology within this document is limited to the dynamics and handling characteristics of single track, two-wheeled vehicles.
Motorcycle Technical Steering Committee
Effects on Motorcycle Response Data Using Wheel Force Transducers2025-01-00945/5/2025
Wheel Force Transducers (WFT) are precise and accurate measurement devices that seamlessly integrate into any vehicle. They can be applied in numerous vehicle applications for both on-road and in laboratory settings. The instrumentation requires replacing an original equipment manufacturer (OEM) wheel with a custom WFT system which is specific to the wheel hub design. An ideal design will minimally impact a vehicle's dynamics, but the vehicle system is inherently modified from the mass of the measurement device. Research and technical documentation have been published which provide conclusions explaining reduction in the unsprung mass reduces dynamic wheel load. However, there doesn’t appear to be clear compensation techniques for how a modified unsprung mass can be related to the original system, thus allowing the WFT signals to be more accurate to the OEM wheel forces. An experimental study was performed on a prototype motorcycle to better understand these differences. An
Frisco, Jacob, Larsen, William, Rhudy, Scott, Oosting, Nicholas, Laurent, Matthew
Vibration Refinement of Two Wheeler Sub Chassis and Aesthetic Parts Due to Engine Unbalanced Excitation Forces2025-01-01135/5/2025
Two wheeler is important and essential transportation mode in many of the countries across the globe. Designing a motorcycle with better riding comfort and minimal vibration are thus a major challenge for engineers now a day. Engine and road excitations are two source of vibration acting on motor bike or scooter both. These vibrations are transmitted to the chassis, sub chassis, aesthetic parts and then to the rider and pillion. Unwanted vibrations will create discomfort to the rider/pillion and produce noise. Hence, these need to be minimized. This study is focus on diagnosis and control of output vibration response of sub chassis/aesthetic parts due to engine unbalanced excitation force. There are numerous parameter of motor bike/scooter that governs the vibration response of sub chassis/aesthetic parts. Engine unbalanced inertia force characteristics and their transmission to rider and pillion has been studied and reported here. Environmental benefit demands for a complete noise
Khare, Saharash
RDE Methodology Development for Motorcycle Emissions Assessment2024-32-00734/18/2025
The transfer of conditions and regulations for RDE testing from passenger cars to motorcycles is a non-trivial undertaking. Motorcycles exhibit significant differences in construction and usage compared to cars, necessitating a distinct set of requirements for equipment and methodology. Currently available PEMS are hindered by their relatively large size and weight due to the embedded measurement technology and external power supply. The weight of, at least 50kg, poses a substantial additional load, leading to a deviation and, on average, higher load collective of the engine during RDE measurement rides. Beyond these structural parameters, the actual propulsion system and subsequent exhaust system introduce another challenge when employing PEMS on motorcycles. An unfavorable combination of the ratio of engine displacement to the volume of the exhaust system and long or unequal ignition intervals leads to pulsations, which has a considerable impact on the differential pressure-based
Schurl, Sebastian, Keller, Stefan, Lankau, Mathias, Hafenmayer, Christian, Schmidt, Stephan, Kirchberger, Roland
A Two-Step Approach for Tire Lateral Force Observation for Motorcycles2024-32-00434/18/2025
This study presents a two-step method for estimating motorcycle tire lateral forces, which are critical to the safety of driver assistance systems. In the pre-filtering stage, a partial attitude of the motorcycle is estimated using a Kalman filter and a kinematic model. In the observation stage, the side slip angle and subsequently the tire lateral forces are provided by a sliding mode observer. It extends previous research by incorporating both out-of-plane and in-plane dynamics. The paper also proposes an approach for selecting the Kalman filter parameters. An approach to identify the stochastic sensor errors of the inertial measurement unit is presented. The identified parameters are used as a basis for the selection of the covariances. The overall study provides a practical implementation strategy and demonstrates its applicability in real-world scenarios. The experiments show the results of the lateral force estimation and its relation to the friction ellipse. The effectiveness of
Winkler, Alexander, Grabmair, Gernot, Reger, Johann
Analysis of Lane Departure Caused by Inadequate Motorcycle Driving Maneuvers Due to Road Alignment2024-32-00344/18/2025
There are many riders who drive motorcycles on winding mountain roads and caused single motorcycle traffic accidents on curved roads by lane departure. Driving a motorcycle requires subtle balancing and maneuvering. In this study, in order to clarify the influence of lane departure caused by inadequate driving maneuvers against road alignment, the authors analyzed the required curve initial operation and driving maneuvers in curves depending on the traveling speed using a kinematics simulation for motorcycle dynamics. In addition, it was analyzed how inadequate driving maneuvers for curved roads can easily cause lane departure. As a result, it shows that the steering maneuvers and the lean of motorcycle body during the curves are highly affected by the vehicle speed, and the required maneuvers increases rapidly with increasing speed. The inadequate maneuver in the curves, especially for the lean of motorcycle body and steering torque, even by 10%, may cause failure to follow the
Kuniyuki, Hiroshi, Takechi, So
Evaluation of Portable Emission Measurement Systems (PEMS) Accuracy by Simultaneous Measurement of PEMS and Laboratory-Based Analyzers *2024-32-01134/18/2025
With growing concern to protect the atmosphere, the stringency of vehicle emission regulations is increasing annually [1,2]. Notably, evaluations of real driving emissions (RDEs) using portable emission measurement systems (PEMS) have been mandated for light duty vehicles (LDVs) in regions, such as the EU, China, India, and Japan [3,4]. Additionally, RDEs have attracted attention in motorcycles and was investigated in the effect study of the environmental step Euro 5 [5]. However, some inherent problems remain with RDE measurements using the PEMS on motorcycles. Due to the smaller engine displacement and fewer cylinders associated with motorcycles, resulting in lower exhaust gas flow rates, the measurement accuracy of the PEMS may be lower than that of the LDVs. Furthermore, exhaust emissions can be affected by the additional weight of the PEMS when mounted on motorcycles. This study investigated the accuracy of the PEMS in measuring motorcycle emissions by simultaneously measuring
Matsuoka, Masahiro, Hirai, Hiroshi, Ito, Takayuki
A Power Split eCVT Hybrid for Sustainable Urban Mobility2024-32-00294/18/2025
The main drivers for powertrain electrification of two-wheelers, motorcycles and ATVs are increasingly stringent emission and noise limitations as well as the upcoming demand for carbon neutrality. Two-wheeler applications face significantly different constraints, such as packaging and mass targets, limited charging infrastructure in urban areas and demanding cost targets. Battery electric two wheelers are the optimal choice for transient city driving with limited range requirements. Hybridization provides considerable advantages and extended operation limits. Beside efficiency improvement, silent and zero emission modes with solutions allowing fully electric driving, combined boosting enhances performance and transient response. In general, there are two different two-wheeler base categories for hybrid powertrains: motorcycles featuring frame-integrated internal combustion engine (ICE) and transmission units, coupled with secondary drives via chain or belt; and scooters equipped with
Schoeffmann, W., Fuckar, G., Hubmann, C., Gruber, M.
A Study on Optimal Combinations of Winding and Cooling Methods for Downsizing Power Units in Motorcycles2024-32-00074/18/2025
In commercially available electric motorcycles, there is a notable shift in the cooling method, moving from air cooling to water cooling, and in the winding method, moving from concentrated winding to distributed winding, as the output increases. This shift occurs around 8 to 10 kW. However, there is a paucity of empirical investigations examining these combinations to ascertain their optimality. In order to verify this trend, a verification model has been constructed which allows for the comparison of the capacity and weight of the motor and cooling system according to the vehicle’s required output and thermal performance. A comparison and verification of the combinations of winding methods (concentrated winding or segment conductor distribution winding) and cooling systems (water-cooled or air-cooled) was conducted using the model that had been constructed. In the motor designed for this study, when the maximum output of the vehicle was 35 kW or less (European A2 license), the total
Otaki, Ryota, Tsuchiya, Teruyuki, Sakai, Yu, Yamauchi, Takuya, Shimizu, Tsukasa
Research on the Combustion Characteristics of Port Injection Hydrogen Engines for Motorcycles2024-32-00944/18/2025
To prevent global warming, reducing CO2 emissions is the most important issue, and for this reason, efforts are needed to realize a carbon neutral society. Since hydrogen can be stored and transported, and does not emit carbon dioxide when burned, it has attracted particular attention as a fuel for internal combustion engines in recent years and has been studied in various industrial fields[1]. However, many of these studies have been conducted on commercial and passenger vehicle engines, and there has not yet been sufficient validation on small motorcycle engines. Therefore, in this study, a single cylinder gasoline engine for two-wheeled vehicles was converted into a hydrogen engine with port injection, and the abnormal combustion, which is a problem of hydrogen combustion, was verified. In this report, the parameters affecting the abnormal combustion are summarized based on the experimental results, and the reason why the parameters are a factor of the abnormal combustion generation
Suzuki, Haruaki, Inui, Taichi, Okado, Takanori, Tamura, Shohei, Kagawa, Yuta, Ninomiya, Yoshinari
Human Model on Multi-Body Dynamics Simulation of Motorcycle2024-32-00054/18/2025
The possibilities and challenges of adding a rider model to the motorcycle dynamics simulation were investigated for the future planning of a full virtual test. The human model was added to a multi-body dynamics model that reproduces the equations of motion of a motorcycle, called the 10 degrees of freedom (10-DoF) model. The human model is composed from multiple masses and joints, and the steering angle can be controlled by determining the angle of the arms and shoulder. To study the effect of this model, three distinct simulations were carried out: ‘the eigenvalue analysis’, ‘the steady-state circular test simulation’ and ‘the slalom running simulation’. In the eigenvalue analysis, the eigenvalues of the wobble mode shifted to a stable side in the root locus when both hands were fixed on the handlebars. As a result of the slalom running simulation, the response of the handlebar control through the human model produced a more convex trajectory than a direct control of the steering
Ueki, Motohito, Takayama, Akihiro, Yabe, Noboru
Study on Motorcycle Rider Model Using Reinforcement Learning - Learning Examples Including Following Target Velocity and Basic Research on Rider Proficiency2024-32-00284/18/2025
In this study, an initial approach using deep reinforcement learning to replicate the complex behaviors of motorcycle riders was presented. Three learning examples were demonstrated: following a target velocity, maintaining stability at low speeds, and following a target trajectory. These examples serve as a starting point for further research. Additionally, the proficiency of the constructed models was examined using rider proficiency evaluation methods developed in previous studies. Initial results indicated that the models have the potential to mimic real rider behaviors; however, challenges such as differences between the model’s output and what humans can produce were also identified for future work.
Mitsuhashi, Yasuhiro, Momiyama, Yoshitaka, Yabe, Noboru
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