Patent ID: 8751141

Claim:
A method for estimating a height of a gravity center of a vehicle having at least a front axle and a rear axle each carrying at least two wheels, comprising a) determining a first braking period and a second braking period occurring along road portions having substantially a same slope, but where the first and second braking periods result in different vehicle decelerations, and during both braking periods, estimating at least the following variables: vehicle acceleration (Acc); a wheel slippage rate (WSR) for the front and rear axles; braking forces (Bkf) or braking torque at each of the front and rear axles, or a ratio thereof (K); and the slope (Slp) of the corresponding road portion; b) estimating, via one or more electronic control units, using only the estimations of step a) made during both braking periods, the vehicle center of gravity height (H).