Real-time multiple-model estimation of centre of gravity position in automotive vehicles

In this paper, we present a methodology based on multiple models and switching for real-time estimation of centre of gravity (CG) position in automotive vehicles. The method utilises well-known simple linear vehicle models for lateral and roll dynamics and assumes the availability of standard stock automotive sensors. We illustrate the technique with numerical simulations as well as with measured sensor data from an sport utility vehicle. We also compare our estimation results with traditional linear least-squares estimators to show the efficacy of our technique. Finally, we give a simple application example for implementing the idea in automotive vehicles as a switch for rollover controller activation.