LE-PAVD: Learning-Enhanced Physics-Aware Vehicle Dynamics for High-Speed Autonomous Navigation

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.