[2605.08489] LE-PAVD: Learning-Enhanced Physics-Aware Vehicle Dynamics for High-Speed Autonomous Navigation
[Submitted on 8 May 2026]
Title:LE-PAVD: Learning-Enhanced Physics-Aware Vehicle Dynamics for High-Speed Autonomous Navigation
View a PDF of the paper titled LE-PAVD: Learning-Enhanced Physics-Aware Vehicle Dynamics for High-Speed Autonomous Navigation, by Musabbir Ahmed Arrafi and 3 other authors
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Abstract:Accurate modeling of nonlinear vehicle dynamics is essential for high-speed autonomous racing, where controllers operate at the handling limits. Model-based methods are interpretable but rely on simplifying assumptions, while purely learned models capture nonlinearities yet often lack physical consistency and generalization. We propose LE-PAVD (Learning-Enhanced Physics-Aware Vehicle Dynamics), a hybrid model that integrates physics priors with learned components. Our architecture adds four components: load-sensitive Pacejka tire forces, longitudinal load transfer, lateral tire-force effects, and rate-limited actuator inputs. Trained end-to-end on simulation and real-world telemetry, LE-PAVD enforces physical consistency while improving state prediction accuracy. On an unseen track, LE-PAVD reduces average displacement error (ADE) by 16.1$\%$, final displacement error (FDE) by 20.6$\%$, and lowers yaw-rate root mean squared error (RMSE) by 91.3$\%$ versus a deep dynamics baseline, while using 21.6$\%$ fewer FLOPs and achieving approximately 1.50$\times$ faster inference. In closed-loop simulations, LE-PAVD consistently outperforms the baseline by achieving faster lap times by 17.4$\%$ on a training track and 9.5$\%$ on a test track, without any track boundary violations. Overall, LE-PAVD offers a compact, physics-grounded dynamics backbone that improves predictive fidelity and closed-loop performance while reducing inference cost.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.08489 [cs.RO]
(or arXiv:2605.08489v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.08489
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Krishna Bhavithavya Kidambi [view email] [v1] Fri, 8 May 2026 21:07:47 UTC (1,939 KB)
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