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In this paper, a new method is presented for estimating the current sprung mass inertial parameters of a vehicle, such as the mass, pitch and roll mass moments of inertia, and lateral and longitudinal centre of gravity locations. The method measures the sprung mass response when the
vehicle is driven over an unknown and unmeasured random road profile. From these measurements, the equivalent free-decay responses are extracted and modal analysis techniques used to estimate the sprung mass natural frequencies, damping ratios and mode shapes. This information is combined
with a simplified vehicle estimation model, least squares analysis and known equivalent stiffness parameters to estimate the vehicles' inertial parameters. The results obtained from several simulation examples show that estimates of the inertial parameters generally have small relative errors.