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

2026-09-09

AI Summary

本文提出了一种基于IMU的移动地平线估计框架，用于在不同车辆和抓地条件下准确且鲁棒地估算侧向速度和加速度。

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

Problem

• lateral dynamics
• adhesion limit
• stability control
• inertial measurement unit (IMU)

Innovation

• Inertial Measurement Unit (IMU)
• Moving Horizon Estimation (MHE)
• Lateral Velocity
• Lateral Acceleration
• Robust Estimation