## 2 Literature Review  
Publication [18] observed the impact of the center of gravity's position on braking performances. The authors informed that when increasing the inequality of the axle load and the center of gravity's position with the same vehicle mass, braking deceleration decreases and braking distance lengthens. Such similar results are also shown in Ref. [19]. Assessing the impact of the center of gravity's position of a semi-trailer truck set on the braking safety indicators is given in the publication [20], and the authors observed a large impact of the center of gravity's position on braking performances as well. Increasing the center of gravity's position and the inequality in load distribution on the axles led to an excessive reduction in the load of the semi-trailer while braking, to its wheel blocking, to a lengthening of braking distance, and to a significant decrease in braking deceleration. The authors of publication [20] concluded that the ABS system mitigated this negative phenomenon, but still not removed it. Thus, the center of gravity's position has a direct impact on the vehicle's ability to decelerate. Therefore, when reconstructing a car accident or simulating, it is necessary to take into consideration the center of gravity's position, so it must be determined properly. If the position of the center of gravity is too high, it may cause the vehicle to overturn while bending or driving on the inclined road [21; 22; 23]. According to the National Highway Traffic Safety Administration [24], rollover accidents account for approximately 91.4% of class in on-crash fatal and harmful traffic accidents. As follows from the mentioned publication as well as from other literature [25; 26; 27], vehicle dynamics are affected mostly by the position of the vehicle's center of gravity. Thus, determining and knowing the center of gravity's height as precisely as possible is an important tool for understanding the vehicle dynamics. To determine the height of a center of gravity, either estimation based on modeling or experimental measurements can be used. Based on the literature [28; 29; 30; 31], it may be concluded that research of vehicle dynamics is performed predominantly by modeling, and this leads to several simplifications [32]. However, quality and accuracy of modeling depend directly on the accurately determined position of the center of gravity [33]. In Ref. [34], the center of gravity's height is estimated via the improved You Only Look Once algorithm and AdaBoost regression is proposed by relying on roadside sensors. In this case, firstly, a vehicle is identified by sensors and machine learning with 97.59% accuracy, and then the center of gravity's height is estimated after being compared to the database of vehicles and their center of gravity's heights, with 94.64% accuracy according to the authors. However, this publication only operates with the vehicles alone, and it does not take into consideration the actual vehicle load, presence of passengers, or cargo distribution, which are significant factors that affect the height of a center of gravity. Publication [35] describes a simplified dynamic model of a vehicle used for estimating the center of gravity's height that considers the revolutions of both front and rear wheel as well as the speed of the vehicle itself, and the suspension and tire parameters were considered insignificant. The suspension and tire parameters are not considered when estimating the center of gravity'sposition also in publication [36], and the authors to estimate the center of gravity's height only require that the vehicle be longitudinally and/or vertically excited. Like in the method described in publication [35], the calculations required the revolution of both front and rear wheel as well as the speed of the vehicle itself. The method for estimating the center of gravity's position, which also takes into consideration the tire parameters, is described in Ref.