SYSTEM AND METHOD FOR PERFORMING ADVANCED DRIVER-ASSISTANCE FUNCTIONS INCLUDING ADAPTIVELY ACCOUNTING FOR IMPACT OF DIFFERENT PAYLOAD OR TRAILER CONFIGURATIONS

A system includes a vehicle parameter estimation module and a vehicle actuator control module. The vehicle parameter estimation module is configured to generate a first estimate of a vehicle parameter based on operating conditions of a vehicle measured or estimated at a first time. The vehicle parameter includes at least one of a tire cornering stiffness of the vehicle and an understeer coefficient of the vehicle. The vehicle parameter estimation module is also configured to determine an error value based on the first estimate of the vehicle parameter and values of the vehicle operating conditions measured or estimated at a second time that is later than the first time. The vehicle parameter estimation module is further configured to generate a second estimate of the vehicle parameter based on the first estimate of the vehicle parameter and the error value. The vehicle actuator control module is configured to control an actuator of the vehicle based on the second estimate of the vehicle parameter.