21.15109/ARP/WL34BV Tuba, Balázs Balázs Tuba https://orcid.org/0009-0009-6901-5685 SZTAKI staff ARP 2026 Engineering Hegedűs, Tamás Tamás Hegedűs SZTAKI staff Németh, Balázs Balázs Németh SZTAKI staff Tuba, Balazs Balazs Tuba SZTAKI staff 2026-06-25 2026-06-30 21.15109/ARP/WL34BV/XOSSVK 21.15109/ARP/WL34BV/H69DUU 21.15109/ARP/WL34BV/CNXOMK 21.15109/ARP/WL34BV/G5NUYV 21.15109/ARP/WL34BV/71NOUP 25983408 3827 26921321 26301229 74536057 application/matlab-mat text/markdown application/matlab-mat application/matlab-mat application/matlab-mat 1.0 Creative Commons Attribution-NonCommercial 4.0 International License. This dataset provides high-fidelity vehicle trajectory and dynamics data recorded during a free-ride driving session on public roads in the Mátra mountain range, Hungary. Collected using a Lexus RX 450h, the repository is designed to support research in multi-sensor fusion, state estimation, and vehicle localization under naturalistic driving conditions. The recordings feature a mix of high-end and consumer-grade sensors to facilitate benchmarking and performance comparisons of algorithms. Position and orientation measurements are provided by a dual-antenna NovAtel OEM7 GNSS system and a single-antenna VectorNav VN-300 GPS. Inertial data are recorded from both an Epson G320N IMU and a BNO-085 IMU. The dataset also includes vehicle speed from the OBD interface, individual speeds for all four wheel centers, and real-time driver inputs from the accelerator and brake pedals.