Method for ascertaining the position of the center of gravity of a vehicle

A method in which a position of a center of gravity of a moving motor vehicle is ascertained, the method comprising:

• determining, by a motor vehicle processor, at least one set of input variables received from vehicle sensors during one of a plurality of different types of steady-state driving maneuvers including a steady-state left-hand corner maneuver, a steady-state right-hand corner maneuver and a steady-state straight-ahead driving maneuver, the at least one set of input variables comprising at least a longitudinal acceleration of the motor vehicle, a lateral acceleration of the motor vehicle, a yaw rate of the motor vehicle, and at least one wheel rotational speed;
• selecting, by the motor vehicle processor, a selected one of a plurality of classifiers based on a corresponding one of the plurality of different types of steady-state driving maneuvers, the selecting including:
• a) selecting a steady-state left-hand corner classifier when the set of input variables correspond to a steady-state left-hand corner maneuver, the steady-state left-hand corner classifier providing a first probability distribution for center of gravity positions during the steady-state left-hand corner maneuver, the steady-state left-hand corner classifier indicating an estimated center of gravity position of the motor vehicle based on the at least one set of input variables and the first probability distribution,
• b) selecting a steady-state right-hand corner classifier when the set of input variables correspond to a steady-state right-hand corner maneuver, the steady-state right-hand corner classifier providing a second probability distribution for center of gravity positions during the steady-state right-hand corner maneuver, the steady-state right-hand corner classifier indicating an estimated center of gravity position of the motor vehicle based on the at least one set of input variables and the second probability distribution, and
• c) selecting a steady-state straight-ahead driving classifier when the set of input variables correspond to a steady-state straight-ahead driving maneuver, the steady-state straight-ahead driving classifier providing a third probability distribution for center of gravity positions during the straight-ahead driving maneuver, the steady-state straight-ahead driving classifier indicating an estimated center of gravity position of the motor vehicle based on the at least one set of input variables and the third probability distribution;
• calculating, by the motor vehicle processor, a plurality of estimated center of gravity positions based on the at least one set of input variables and based on the selected one of the plurality of classifiers;
• and
• controlling, by the motor vehicle processor, an operation of at least one of a braking system or a steering system of the motor vehicle based on the plurality of estimated center of gravity positions.