Abstract: Systems and methods for estimating values of dynamic attributes of autonomous vehicles are disclosed. A first vehicle includes an inertial measurement unit (IMU) configured to measure a dynamic attribute (e.g., rate of change of vehicle yaw angle) and correlate the measured attribute with one or more input variables (e.g., values of steering angle commands). The correlated data is used to generate a model that can be used in a second vehicle to predict a dynamic attribute based at least in part on variable values input from the second vehicle. As a result, it is not necessary for the second vehicle to have an IMU.