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

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.