Introduction Road bends of extra-urban and rural roads\nare known to be particularly relevant for motorcycle riding\nsafety. For this reason a Curve Warning system has been\ndeveloped for assisting the motorcyclists to safely approach\nbends and curves.\nSystem Description The system is organized in three layers:\nthe first is the scenario detection that uses on-board\nsensors and digital maps to feed the second layer, which is\nthe risk assessment layer. This second layer combines road\ngeometry, motorcycle dynamics, and rider style in a holistic\napproach for computing a safe reference maneuver and\nfor detecting potential dangers in the curve negotiation. The\nsafe reference maneuver is continuously recalculated to follow\nthe evolving scenario according to a receding horizon\napproach. In case of potential danger, the third layer warns\nthe rider by a proper Human Machine Interface, leaving to\nthe rider the vehicle control.\nPaper contents This paper explains the Curve Warning concept\nand illustrates its implementation, development, and\ntuning on a motorcycle prototype. The latter has been used\nfor a pilot campaign of road tests, which demonstrated that\nthe system is capable of early detection of potential danger\nsituations, and that riders have a positive attitude towards\nthe Curve Warning system itself.
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