RAGE: A Tightly Coupled Radar-Aided Grip Estimator For Autonomous Race Cars

Abstract:Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches to measure tire grip often depend on costly, specialized sensors that require custom installation, limiting scalability and deployment. In this work, we introduce RAGE, a novel real-time estimator that simultaneously infers the vehicle velocity, slip angles of the tires and the lateral forces that act on them, using only standard sensors, such as IMUs and RADARs, which are commonly available on most of modern autonomous platforms. We validate our approach through both high-fidelity simulations and real-world experiments conducted on the EAV-24 autonomous race car, demonstrating the accuracy and effectiveness of our method in estimating the vehicle lateral dynamics.

Robotics (cs.RO)

arXiv:2604.02892 [cs.RO]

(or arXiv:2604.02892v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2604.02892 Focus to learn more arXiv-issued DOI via DataCite

https://doi.org/10.1109/TIV.2026.3732711 Focus to learn more DOI(s) linking to related resources

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