  The sideslip angle, crucial for vehicle safety and stability, is determined
using both longitudinal and lateral velocities. However, measuring the lateral
component often necessitates costly sensors, leading to its common estimation,
a topic thoroughly explored in existing literature. This paper introduces
LOP-UKF, a novel method for estimating vehicle lateral velocity by integrating
Lidar Odometry with the Pacejka tire model predictions, resulting in a robust
estimation via an Unscendent Kalman Filter (UKF). This combination represents a
distinct alternative to more traditional methodologies, resulting in a reliable
solution also in edge cases. We present experimental results obtained using the
Dallara AV-21 across diverse circuits and track conditions, demonstrating the
effectiveness of our method.
