Calculating Vehicle States of a Vehicle System for Lane Centering

A system includes an inertial navigation system module (INS module) that detects vehicle yaw rates and vehicle lateral speeds, a controller circuit communicatively coupled with the INS module. The controller circuit determines a tire cornering stiffness (C, C) based on vehicle physical parameters and vehicle dynamic parameters. The controller circuit determines a vehicle moment of inertia (Iz) based on the vehicle physical parameters, the vehicle dynamic parameters, and the tire cornering stiffness (C, C).