IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions

• URL: http://arxiv.org/abs/2609.10202v2
• Date: Thu, 10 Sep 2026 10:37:40 GMT
• Title: IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions
• Abstract summary: This paper presents an inertial measurement unit (IMU)-centric Moving Horizon Estimation framework that reconstructs lateral velocity using standard onboard signals.<n> Experimental validation on human-driven sports cars and an autonomous open-wheel race car demonstrates accurate and robust lateral velocity and lateral acceleration estimates.
• Score: 40.68933034473117
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate estimation of lateral vehicle dynamics near the adhesion limit is important for stability control and high-performance driving, but lateral velocity is rarely measured directly because sensors such as optical sensors are costly. This paper presents an inertial measurement unit (IMU)-centric Moving Horizon Estimation framework that reconstructs lateral velocity using standard onboard signals, without relying on exteroceptive odometry or detailed tire-parameter tuning. Experimental validation on human-driven sports cars and an autonomous open-wheel race car across tracks, maneuvers, and conditions demonstrates accurate and robust lateral velocity and lateral acceleration estimates. The proposed framework is available at https://github.com/Aseuffo/IMU-Centric-MHE

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