Adaptive vehicle parameter identification in speed varying situations

The objective of this paper is to identify several vehicle lateral and vertical dynamics parameters, including the horizontal center of gravity (CG) position and the CG height that has a major role in rollover. Least Squares and Kalman Filtering techniques are employed in order to propose a novel identification algorithm that is robust against speed variations, hence it can be coupled with a rollover controller effectively while identification is in progress. Extensive simulations are carried out in order to demonstrate the superior performance of the proposed method.