21.15109/ARP/WL34BVTuba, BalázsBalázsTuba0009-0009-6901-5685SZTAKI staffARP2026EngineeringTuba, BalazsSZTAKI staffHegedűs, TamásTamásHegedűsSZTAKI staffNémeth, BalázsBalázsNémethSZTAKI staff2026-06-252026-06-30382774536057263012292692132125983408text/markdownapplication/matlab-matapplication/matlab-matapplication/matlab-matapplication/matlab-mat1.0CC BY-NC 4.0This 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.