Multi-Surface Driving Maneuvers: A Dataset from Standstill to Vehicle Dynamics Limits

This dataset presents vehicle dynamics and steering system measurements in various driving conditions. The test vehicle is a rear-wheel-drive Hyundai IONIQ 5 equipped with Michelin CrossClimate 2 tires at nominal inflation pressures. Vehicle dynamics signals were captured using a Kistler Correvit S-Motion optical sensor and an ANavS Multi-Sensor Real-Time Kinematic Global Navigation Satellite System, while left and right tie rod forces were measured with dedicated strain gauges. Furthermore, standard internal vehicle signals were accessed via the vehicle’s CAN bus. These signals were synchronously recorded on a dSPACE MicroAutoBox III at a sampling rate of 1000 Hz.
Testing was conducted at the Karlsruhe Institute of Technology Campus East under dry environmental conditions. The driving maneuvers were performed manually and capture a broad spectrum of dynamic states: standstill, parking procedures, slow-driving transitions, and maneuvers up to 50 km/h at the lateral vehicle dynamics limits. The dataset encompasses a wide range of surface textures, including alignment turn plates, concrete, cobblestone, and two distinct asphalt variants. The resulting dataset contains 41 distinct test runs, providing 42 minutes of recorded signals and a static vehicle parameter set, making it highly suitable for the evaluation of dynamic single-track models alongside steering and tire models.