[gugagore]

Do you know if there's work on adapting to the vehicle dynamics on the fly? The comment about tires degrading made me thing that there should be some parameters in the model corresponding to how degraded the tires are, and instead of relying purely on feedback to correct for model-mismatch, you could try to get a better model on the fly.

[a1k0n]

I'm aware of one paper which tries to fit a local polynomial model to the lateral dynamics, and they have a different model for different positions on the track (it requires really good localization to work): https://arxiv.org/abs/1610.06534

I had some of the vehicle parameters as part of my EKF for a while, but it led to some instabilities in the control.

The main problem is that it's really hard to know what the car's instantaneous lateral velocity is. I think the best you can do is check the difference of velocity*gyro yaw rate and lateral accelerometer measurement to get a noisy lateral acceleration measurement, and that can tell you how well your tires are hooking up. I might try fitting a least-squares model on the fly with something like that.