Systems and methods for estimating vehicle parameters

A method for estimating vehicle parameters of a vehicle comprising:

• determining a maximum desired vehicle acceleration in a first direction;
• determining a minimum excitation acceleration in the first direction, the minimum excitation acceleration being associated with generating an estimated vehicle parameter;
• generating a first control input for transmission to an advanced driver assistance system (ADAS) of the vehicle to apply a temporary excitation acceleration that is greater than the minimum excitation acceleration and less than the maximum desired vehicle acceleration to the vehicle in the first direction;
• generating the estimated vehicle parameter using a vehicle parameter estimation observation model based on vehicle data received from at least one vehicle sensor, the vehicle data being generated in response to an application of the temporary excitation acceleration to the vehicle;
• and
• transmitting the estimated vehicle parameter to the ADAS of the vehicle for replacement of a previous vehicle parameter at the ADAS with the estimated vehicle parameter.

A vehicle including a vehicle parameter estimation system comprising:

• at least one processor;
• and
• at least one memory communicatively coupled to the at least one processor, the at least one memory comprising instructions that upon execution by the at least one processor, cause the at least one processor to:
• determine a maximum desired vehicle acceleration in a first direction;
• determine a minimum excitation acceleration in the first direction, the minimum excitation acceleration being associated with generating an estimated vehicle parameter;
• generate a first control input for transmission to an advanced driver assistance system (ADAS) of the vehicle to apply a temporary excitation acceleration that is greater than the minimum excitation acceleration and less than the maximum desired vehicle acceleration to the vehicle in the first direction;
• generate the estimated vehicle parameter using a vehicle parameter estimation observation model based on vehicle data received from at least one vehicle sensor, the vehicle data being generated in response to an application of the temporary excitation acceleration to the vehicle;
• and
• transmit the estimated vehicle parameter to the ADAS of the vehicle for replacement of a previous vehicle parameter at the ADAS with the estimated vehicle parameter.