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arXiv · 2609.10202

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

Seuffo Akouan ha Ngoune·Alessandro Toschi·Paolo Burgio·Marko Bertogna
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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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Seuffo Akouan ha Ngoune, Alessandro Toschi, Paolo Burgio, Marko Bertogna. 2026-09-09. IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions. https://arxiv.org/abs/2609.10202

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