This folder contains input data for training.

uk: Input vector
[steering angle (rad), Wheel torque front left (Nm), Wheel torque front right (Nm), Wheel torque rear left (Nm), Wheel torque rear right (Nm)]

yk: Measurement vector 
[x-Acceleration (m/s^2), y-Acceleration (m/s^2), Yaw rate (rad/s), Wheel speed front left (rad/s), Wheel speed front right(rad/s), Wheel speed rear left (rad/s), Wheel speed rear right (rad/s)]

vk_ref: Reference velocity
[x-Ref.-Velocity (m/s), y-Ref.-Velocity (m/s)]