We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road models with the dynamics of motorcycles. Our approach considers the additional camber degree of freedom of the motorcycle body with a simplified model of the rider and front steering fork bodies. We demonstrate the effectiveness of our model by computing minimum-time racing trajectories on a nonplanar racetrack.

翻译：本文提出了一种新颖的面向控制的摩托车模型，并将其用于非平面赛道上的赛车线计算。该模型将非平面道路建模的最新进展与摩托车动力学特性相结合。我们的方法通过简化的骑手模型与前转向叉体模型，考虑了摩托车车身额外的侧倾自由度。通过在非平面赛道上计算最短时间竞赛轨迹，我们验证了该模型的有效性。