Guess the Drift with LOP-UKF: LiDAR Odometry and Pacejka Model for Real-Time Racecar Sideslip Estimation

Personal use of this material is permitted. Abstract-- The sideslip angle, crucial for vehicle safety and stability, is determined using both longitudinal and lateral velocities. This paper introduces LOP-UKF, a novel method for estimating vehicle lateral velocity by integrating Lidar Odometry with the Pacejka tire model predictions, resulting in a robust estimation via an Unscendent Kalman Filter (UKF). This combination represents a distinct alternative to more traditional methodologies, resulting in a reliable solution also in edge cases. We present experimental results obtained using the Dallara AV-21 across diverse circuits and track conditions, demonstrating the effectiveness of our method.