A Modular and Extensible Open-Source Framework for Creating Symbolic Bicycle-Rider Models.
As of October 2024, BRiM has been renamed to SymBRiM.
Links with more information:
This package is still under development, therefore there is no guarantee on backward compatibility.
SymBRiM is currently available on PyPI.
pip install symbrimThe optional dependencies can be installed with:
pip install bicycleparameters
pip install symmeplotContributions are welcome! Please refer to the contributing page for more information.
If you use SymBRiM in your research, please cite the following paper:
@inproceedings{stienstra_2023_brim,
title = {BRiM: A Modular Bicycle-Rider Modeling Framework},
abstract = {The development of computationally efficient and validated single-track vehicle-rider models has traditionally required handcrafted one-off models. Here we introduce BRiM, a software package that facilitates building these models in a modular fashion while retaining access to the mathematical elements for handcrafted modeling when desired. We demonstrate the flexibility of the software by constructing the Carvallo-Whipple bicycle model with different numerical parameters representing different bicycles, modifying it with a front fork suspension travel model, and extending it with moving rider arms driven by joint torques at the elbows. Using these models we solve a lane-change optimal control problem for six different model variations which solve in mere seconds on a modern personal computer. Our tool enables flexible and rapid modeling of single-track vehicle-rider models that give precise results at high computational efficiency.},
keywords = {Bicycle Dynamics, BRiM, Computational Modeling, Open-source, SymPy, Simulation, Trajectory Tracking Problem},
author = {Timótheüs J. Stienstra and Samuel G. Brockie and Jason K. Moore},
booktitle = {The Evolving Scholar - BMD 2023, 5th Edition},
year = {2023},
language = {en},
doi = "10.59490/6504c5a765e8118fc7b106c3",
}