The growing demand for automation in the mining industry, particularly for the autonomous operation of articulated dump trucks (ADTs), has drawn increased attention to accurate vehicle modeling. The importance of such models lies in their use in model predictive control (MPC), model-based estimation methods, and vehicle simulation. While dynamic modeling offers a viable solution for these purposes, it is associated with complex setup and parametrization and may require recalibration in changing operating environments. As a result, kinematic models have dominated ADT modeling, especially in MPCs, at the expense of reduced prediction accuracy. In this work, we propose an approach using Gaussian Process Regression (GPR) to learn the sideslip angle of the vehicle, which is identified as the primary contributor to the reduced accuracy of kinematic models. The learned GPR function is augmented into the kinematic model to form a gray-box model that aims to reduce the gap to dynamic models. We show that the gray-box model can predict the sideslip angle and, consequently, the vehicle's lateral velocity, thereby improving the MPC's prediction performance. The resulting gray-box MPC is compared against two white-box MPCs in a simulation environment. The results indicate an improvement in terms of maximum lateral tracking error from over 2 m to 0.56 m.

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