The traditional solutions still involve careful running. People are mentioning Kalman filters. How are the covariances of the noise processes chosen? The best c

The traditional solutions still involve careful running. People are mentioning Kalman filters. How are the covariances of the noise processes chosen? The best choice of parameters is chosen by experimentation and measurement, not first principles. Additionally, "first principles" can mean modeling the contact patch been the tire and road, and estimating the friction, based on weather and road conditions. Or it can mean a mixture of two models, one with and without slippage. How do you detect which model is "active"? That's more parameters that require tuning. Ideally, models are both data-driven and human-interpretable.