Measuring Cyclist’s Inputs, the Kinematic and Dynamic Properties of a City Bicycle, and Estimating the Road Profile via Sensor Fusion

Abstract

In this paper, we present the instrumentation of a city bicycle with different sensors and devic-es in order to measure cyclists’ inputs (i.e., pedaling and steering) and the dynamical and kinematic properties of the bicycle. The instrumentation includes two tri-axial accelerometers, an Inertial Measurement Unit (IMU), GPS, a potentiometer, a laser scanner, a pedaling power meter, and speed and cadence sensors, in addition to a mobile eye tracker worn by the cyclists. After the instrumentation and adjustment of the sensors, a study was conducted in the city of Stockholm using the instrumented bicycle with the aim to evaluate cycling safety and comfort on snowy surface conditions. The outputs of this experiment will be employed further to study the interaction of cyclists with road infrastructure and other road users and their impact on cyclists’ behavior and cycling safety.