## 3 Data Collection, Experimental Setup and NN Model Selection  
### Dataset  
The IO-VNBD dataset, consisting of 98 h of driving data collected over 5700 km of travel and characterised by diverse driving scenarios (publicly available at [[https://github.com/onyekpeu/IO-VNBD](https://github.com/onyekpeu/IO-VNBD)]([https://github.com/onyekpeu/IO-VNBD](https://github.com/onyekpeu/IO-VNBD))) was used in this study [24]. The dataset captures information such as the vehicle's longitudinal acceleration, yaw rate, heading, GPS coordinates (latitude, longitude) at each time instance from the Electric Control Unit (ECU) of the vehicle with a sampling interval of 10 Hz. Details of the sensors used in our research can be found in Reference [24]. A Ford Fiesta Titanium was used for the data collection as shown in Figure 3. Tables 1-3 present the data subsets used in this study.  
\begin{table}
\begin{tabular}{c l} \hline \hline
**IO-VNB Dataset** & **Features** \\ \hline V-Vta21 & Hilly Road, Tyre Pressure A \\ \hline V-Vta22 & Hilly Road, Hard Brake, Tyre Pressure A \\ \hline V-Vta27 & Gravel Road, Several Hilly Road, Potholes, Country Road, A-Road (A515), Tyre Pressure A \\ \hline V-Vta28 & Country Road, Hard Brake, Valley, A-Road (A515) \\ \hline V-Vta29 & Hand Brake, Country Road, Hilly Road, Windy Road, Dirt Road, Wet Road, Reverse (\(\times\)2), Bumps, Rain, B-Road (B5053), Country Road, U-Turn (\(\times\)3), Windy Road, Valley, Tyre Pressure A \\ \hline V-Vta30 & Rain, Wet Road, U-Turn (\(\times\)2), A-Road (A53, A515), Inner Town \\ Driving, B-Road (B5053), Tyre Pressure A \\ \hline V-Vtb1 & Valley, rain, Wet-Road, Country Road, U-T urn (\(\times\)2), Hard-Brake, Swift-Manoeuvre, A—Road (A6, A6020, A623, A515), B-Road (B6405), Round About (\(\times\)3), day Time, Tyre Pressure A \\ \hline V-Vtb2 & Country Road, Wet Road, Dirt Road, Tyre Pressure A \\ \hline V-Vtb3 & Reverse, Wet Road, Dirt Road, Gravel Road, Night-time, Tyre Pressure A \\ \hline V-Vtb5 & Dirt Road, Country Road, Gravel Road, Hard Brake, Wet Road, B Road (B6405, B6012, B5056), Inner Town Driving, A-Road, Motorway (M42, M1), Rush hour(Traffic) Round-About (\(\times\)6), A-Road (A5, A42, A38, A615, A6), Tyre Pressure A \\ \hline V-Vw4 & Round-About (\(\times\)77), Swift-Manoeuvres, Hard-Brake, Inner City \\ Driving, Reverse, A-Road, Motorway (M5, M40, M42), Country Road, Successive Left-Right Turns, Daytime, U-Turn (\(\times\)3), Tyre Pressure D \\ \hline V-Vw5 & Successive Left-Right Turns, Daytime, Sharp Turn Left/Right, Tyre Pressure D \\ \hline V-Vw14b & Motorway (M42), Night-time, Tyre Pressure D \\ \hline V-Vw14c & Motorway (M42), Round About (\(\times\)2), A-Road (A446), Night-time, Hard Brake, Tyre Pressure D \\ \hline V-Vfa01 & A-Road (A444), Round About (\(\times\)1), B-Road (B4116) Day Time, Hard Brake, Tyre Pressure A \\ \hline V-Vfa02 & B-Road (B4116), Round About (\(\times\)5), A Road (A42, A641), Motorway (M1, M62) High Rise Buildings, Hard Brake, Tyre Pressure C \\ \hline V-Vfb01a & City Centre Driving, Round-About (\(\times\)1), Wet Road, Ring Road, Night, Tyre Pressure C \\ \hline V-Vfb01b & Motorway (M606), Round-About (\(\times\)1), City Roads Traffic, Wet Road, Changes in Acceleration in Short Periods of Time, Night, Tyre Pressure C \\ \hline V-Vfb02b & Round About (\(\times\)1), Bumps, Successive Left Right Turns, Hard-Brake (\(\times\)7), Zig-zag (\(\times\)6), Night, Tyre Pressure D \\ \hline \hline \end{tabular}
\end{table}
Table 1: Cont.  
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Scenario** & **IO-VNB Data Subset** & **Total Time Driven, Distance Covered, Velocity and Acceleration** \\ \hline \hline Motorway & V-Vw12 & 1.75 min, 2.64 km, 82.6–97.4 km/h, \\  & & \(-\)0.06 to +0.07 g \\ \hline \hline \end{tabular}
\end{table}
Table 2: IO-VNB data test subset used in the less challenging scenario.