Experimental Measurement and Estimation of Vehicle Lateral Dynamics Parameters Using Multi-Sensor Data

Bach Sebastian; Milesich Tomáš; Danko Ján; Kevický Igor; Béreš Marko; Bernáth Martin; Magdolen Ľuboš

doi:10.2478/scjme-2026-0018

.blurhash-client-img { display: none !important; }

Experimental Measurement and Estimation of Vehicle Lateral Dynamics Parameters Using Multi-Sensor Data

Strojnícky časopis - Journal of Mechanical Engineering

Volume 76 (2026): Issue 2 (November 2026)

By: Bach Sebastian, Milesich Tomáš, Danko Ján, Kevický Igor, Béreš Marko, Bernáth Martin and Magdolen Ľuboš

Open Access

|Nov 2026

Read online

Abstract

This paper presents an experimental evaluation of vehicle lateral dynamics using multi-sensor data and a linear bicycle model. The measured signals are synchronized, filtered and transformed to the vehicle centre of gravity. Vehicle and axle slip angles, lateral forces and axle cornering stiffness are determined. The estimated stiffness varies during the manoeuvre and is therefore interpreted as a local effective parameter rather than a constant vehicle property.

Rajamani, R. “Vehicle Dynamics and Control”, 2nd ed., Springer, New York, USA, 2012. DOI: 10.1007/978-1-4614-1433-9
Search in Google Scholar Back to article
Gillespie, T. D. “Fundamentals of Vehicle Dynamics”, SAE International, Warrendale, USA, 1992. DOI: 10.4271/R-114
Search in Google Scholar Back to article
Pacejka, H. B. “Tire and Vehicle Dynamics”, 3rd ed., Butterworth-Heinemann, Oxford, UK, 2012. DOI: 10.1016/C2010-0-68548-8
Search in Google Scholar Back to article
Li, P., Nguyen, A.-T., Du, H., Wang, Y., Zhang, H. “Polytopic LPV approaches for intelligent automotive systems: State of the art and future challenges”, Mechanical Systems and Signal Processing, 161, 107931, 2021. DOI: 10.1016/j.ymssp.2021.107931
Search in Google Scholar Back to article
Kistler Group. “Correvit S-350 – Non-Contact Optical Sensors, Type CS350A”, Kistler Group, Winterthur, Switzerland, Doc. CS350A_000-807e-03.12, 2012.
Search in Google Scholar Back to article
Movella. “MTi-670 GNSS/INS”, [online] Available at: https://www.xsens.com/sensor-modules/xsens-mti-670-gnss-ins [Accessed: 13 September 2026].
Search in Google Scholar Back to article
u-blox AG. “C102-F9R Application Board – User Guide”, u-blox AG, Thalwil, Switzerland, Doc. UBX-20029244, Rev. R04, 2023. Available at: https://content.ublox.com/sites/default/files/documents/C102-F9R_UserGuide_UBX-20029244.pdf.
Search in Google Scholar Back to article
Nidec Components Corporation. “RE30E Optical Encoders”, [online] Available at: https://www.nidec-components.com/e/catalog/rotary-encoder/re30e.pdf [Accessed: 13 September 2026].
Search in Google Scholar Back to article
Montgomery, D. C., Runger, G. C. “Applied Statistics and Probability for Engineers”, 7th ed., John Wiley & Sons, Hoboken, USA, 2018. ISBN 978-1-119-40030-1
Search in Google Scholar Back to article
Oppenheim, A. V., Willsky, A. S., Nawab, S. H. “Signals and Systems”, 2nd ed., Prentice Hall, Upper Saddle River, USA, 1997. ISBN 978-0-13-814757-0
Search in Google Scholar Back to article
Magdolen, Ľ., Danko, J., Milesich, T., Kevický, I., Hanko, L., Skyrčák, R. “Conditions for Loss of Stability of an Autonomous Vehicle During a Cornering Manoeuvre”, Strojnícky časopis – Journal of Mechanical Engineering 72 (3), pp. 129 – 140, 2022. DOI: 10.2478/scjme-2022-0047
Search in Google Scholar Back to article
Tobiáš, M., Straka, T., Porteš, P. “Inverse Multibody Simulations for Motorcycle Tire Force Analysis”, Strojnícky časopis – Journal of Mechanical Engineering 74 (1), pp. 159 – 168, 2024. DOI: 10.2478/scjme-2024-0016. 10 Volume 76, No. 2, (2026)
Search in Google Scholar Back to article

Articles in this issue

DOI: https://doi.org/10.2478/scjme-2026-0018 | Journal eISSN: 2450-5471 | Journal ISSN: 0039-2472

Journal RSS Feed

Language: English

Page range: 1 - 10

Published online: Nov 12, 2026

Published in print: Nov 1, 2026

Published by: Slovak University of Technology in Bratislava

In partnership with: Paradigm Publishing Services

Keywords:

vehicle lateral dynamics,

experimental measurement

Related subjects:

Engineering,

Mechanical engineering,

Fundamentals of mechanical engineering,

Mechanics

© 2026 Bach Sebastian, Milesich Tomáš, Danko Ján, Kevický Igor, Béreš Marko, Bernáth Martin, Magdolen Ľuboš, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 76 (2026): Issue 2 (November 2026)