Patent ID: 8583354

Claim:
A system for computing a center of gravity of a vehicle having a plurality of wheels, the system comprising: non-transitory computer readable medium encoded with a plurality of executable modules, the wherein the plurality of executable modules include an acceleration module configured to determine a first acceleration of the vehicle along an x-axis, a second acceleration of the vehicle along a y-axis, and a third acceleration of the vehicle along a z-axis; an angular module configured to determine a first angular rate of the vehicle along the x-axis, a second angular rate of the vehicle along the y-axis, and a third angular rate of the vehicle along the z-axis; a force module configured to determine a total force acting on the vehicle based on a displacement of each of the plurality of wheels from a body of the vehicle; a mass module configured to determine an estimated mass of the vehicle including any load included in the vehicle; and a computational module configured to determine a center of gravity of the vehicle based on the first acceleration of the vehicle along an x-axis, the second acceleration of the vehicle along a y-axis, the third acceleration of the vehicle along a z-axis, the first angular rate of the vehicle along the x-axis, the second angular rate of the vehicle along the y-axis, the third angular rate of the vehicle along the z-axis, the total force acting on the vehicle, and the estimated mass of the vehicle.