]. G. Baffet, Développement et validation expérimentale d'observateurs des forces du contact pneumatique/chaussée d'une automobile, 2007.

]. P. Batavia, Driver-adaptive lane departure warning systems, 1999.

E. R. Beadle and P. M. Djuric, A fast-weighted Bayesian bootstrap filter for nonlinear model state estimation. Aerospace and Electronic Systems, IEEE Transactions on, vol.33, issue.1, pp.338-343, 1997.

]. D. Bevly, R. Sheridan, and J. C. Gerdes, Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), pp.25-30, 2001.
DOI : 10.1109/ACC.2001.945508

N. Bouton, R. Lenain, B. Thuilot, and J. C. Fauroux, A rollover indicator based on the prediction of the load transfer in presence of sliding: application to an All Terrain Vehicle, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1158-1163, 2007.
DOI : 10.1109/ROBOT.2007.363141
URL : https://hal.archives-ouvertes.fr/hal-00142579

]. F. Boyden and S. A. Velinsky, Dynamic modeling of wheeled mobile robots for high load applications, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp.3071-3078, 1994.
DOI : 10.1109/ROBOT.1994.351097

]. G. Cai, B. M. Chen, and T. H. Lee, Coordinate Systems and Transformations, Unmanned Rotorcraft Systems, pp.23-34, 2011.
DOI : 10.1007/978-0-85729-635-1_2

]. J. Candy, Bootstrap Particle Filtering, IEEE Signal Processing Magazine, vol.24, issue.4, pp.73-85, 2007.
DOI : 10.1109/MSP.2007.4286566

]. C. Carlson and J. C. Gerdes, Optimal Rollover Prevention With Steer by Wire and Differential Braking, Dynamic Systems and Control, Volumes 1 and 2, pp.16-21, 2003.
DOI : 10.1115/IMECE2003-41825

]. J. Casey-]-m, T. Chen, D. Jochem, and . Pomerleau, Exploring curvature Vieweg Wiesbaden Bibliography AURORA: A vision-based roadway departure warning system, Proceedings of 1995 IEEE, pp.243-248, 1995.

]. B. Chen and H. Peng, A real-time rollover threat index for sports utility vehicles, Proceedings of the 1999 American Control Conference, pp.1233-1237, 1999.

]. B. Chen and H. Peng, Differential-Braking-Based Rollover Prevention for Sport Utility Vehicles with Human-in-the-loop Evaluations, Vehicle System Dynamics, vol.36, issue.4-5, pp.4-5, 2001.
DOI : 10.1076/vesd.36.4.359.3546

]. B. Chen and F. C. Hsieh, Sideslip angle estimation using extended Kalman filter, Vehicle System Dynamics, vol.46, issue.sup1, pp.353-364, 2008.
DOI : 10.1504/IJVAS.2004.004458

]. Q. Cheng, A. Victorino, and A. Charara, Nonlinear observer of sideslip angle using a particle filter estimation methodology, IFAC World Congress, 2011.
DOI : 10.3182/20110828-6-IT-1002.01162

Y. Li, S. Yu-hsaing, and . Tsung-ying, Lane departure warning system based on dynamic vanishing point adjustment, 2012 IEEE 1st Global Conference on Consumer Electronics (GCCE), pp.25-28

]. W. Cho, J. Yoon, S. Yim, B. Koo, and K. Yi, Estimation of Tire Forces for Application to Vehicle Stability Control. Vehicular Technology, IEEE Transactions on, vol.59, issue.2, pp.638-649, 2010.

]. F. Cunha, A. Victorino, R. Ghandour, and A. Charara, Vehicle Dynamics Prediction Based on State Observers Entries Anticipation, IFAC World Congress, pp.2260-2265, 2011.
DOI : 10.3182/20110828-6-IT-1002.03017

]. H. Dahmani, M. Chadli, A. Rabhi, and A. E. Hajjaji, Fuzzy uncertain observer with unknown inputs for Lane departure detection, Proceedings of the 2010 American Control Conference, pp.688-693, 2010.
DOI : 10.1109/ACC.2010.5530890

]. J. Dakhlallah, S. Glaser, S. Mammar, and Y. Sebsadji, Tire-road forces estimation using extended Kalman filter and sideslip angle evaluation, 2008 American Control Conference, pp.4597-4602, 2008.
DOI : 10.1109/ACC.2008.4587220
URL : https://hal.archives-ouvertes.fr/hal-00342802

]. E. Ding, T. Massel, and S. Ding, Sch??tzung des Fahrzeugnickwinkels, ATZ worldwide, vol.12, issue.2004, pp.22-24, 2006.
DOI : 10.1007/BF03224809

]. N. Ding and S. Taheri, A Modified Dugoff Tire Model for Combined-slip Forces, Tire Science and Technology, vol.38, issue.3, pp.228-244, 2010.
DOI : 10.2346/1.3481696

]. J. Dixon, Tires, suspension, and handling, 1996.
DOI : 10.4271/r-168

]. R. Douc and O. Cappe, Comparison of resampling schemes for particle filtering, ISPA 2005. Proceedings of the 4th International Symposium on Image and Signal Processing and Analysis, 2005., pp.64-69, 2005.
DOI : 10.1109/ISPA.2005.195385
URL : https://hal.archives-ouvertes.fr/hal-00005883

]. A. Doucet, N. De-freitas, and N. Gordon, An Introduction to Sequential Monte Carlo Methods, Sequential Monte Carlo methods in practice, pp.3-14, 2001.
DOI : 10.1007/978-1-4757-3437-9_1

]. M. Doumiati, Estimation embarquée des effors verticaux et latéraux d'un véhicule pour le diagnostic du comportement sur route, 2009.

]. H. Dugoff, P. S. Fancher, and L. Segel, Tire performance characteristics affecting vehicle response to steering and braking control inputs, 1969.

]. Tseng, L. Xu, and D. Hrovat, Estimation of land vehicle roll and pitch angles, Vehicle System Dynamics, vol.45, issue.5, pp.433-443, 2007.
DOI : 10.1076/vesd.32.4.375.2079

]. J. Gertsch and O. Eichelhard, Simulation of Dynamic Rollover Threshold for Heavy Trucks, SAE Technical Paper Series, p.3385, 2003.
DOI : 10.4271/2003-01-3385

]. R. Ghandour, Diagnostic et évaluation anticipée des risques de rupture d'itinéraire basés sur l'estimation de la dynamique du véhicule, 2011.

]. S. Glaser, L. Nouveliere, and B. Lusetti, Speed Limitation Based on an Advanced Curve Warning System, 2007 IEEE Intelligent Vehicles Symposium, pp.686-691, 2007.
DOI : 10.1109/IVS.2007.4290196
URL : https://hal.archives-ouvertes.fr/hal-00364709

]. H. Godthelp, P. Milgram, and G. J. Blaauw, The development of a time-related measure to describe driving strategy, Human Factors: The Journal of the Human Factors and Ergonomics Society, vol.26, issue.3, pp.257-268, 1984.

]. N. Gordon, D. J. Salmond, and A. F. Smith, Novel approach to nonlinear/non-Gaussian Bayesian state estimation, IEEE Proceedings on Radar and Signal Processing, pp.107-113, 1993.
DOI : 10.1049/ip-f-2.1993.0015

]. M. Grewal and A. P. Andrews, Kalman filtering: theory and practice. Prentice- Hall information and system sciences series, 1993.

]. H. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, Vehicle sideslip estimation, IEEE Control Systems Magazine, vol.29, issue.5, pp.36-52, 2009.
DOI : 10.1109/MCS.2009.934083

M. Saif, A novel approach to the design of unknown input observers, IEEE Transactions on Automatic Control, vol.36, issue.5, pp.632-635, 1991.

]. S. Guermah, S. Djennoune, and M. Bettayeb, Controllability and Observability of Linear Discrete-Time Fractional-Order Systems, International Journal of Applied Mathematics and Computer Science, vol.18, issue.2, pp.213-222, 2008.
DOI : 10.2478/v10006-008-0019-6

]. D. Gunia, T. Wey, and J. Meier, Advanced Driver Assistance Systems (ADAS)- Development at Ford Motor Company, 2008.

]. A. Hac, Influence of active chassis systems on vehicle propensity to maneuverinduced rollovers, PROGRESS IN TECHNOLOGY, vol.101, pp.60-67, 2004.

]. A. Hac, T. Brown, and J. Martens, Detection of Vehicle Rollover, SAE Technical Paper Series, 2004.
DOI : 10.4271/2004-01-1757

]. C. Halfmann, O. Nelles, and H. Holzmann, Semi-physical modeling of the vertical vehicle dynamics, IEEE American Control Conference, pp.1707-1711, 1999.

]. S. Haykin, Kalman filtering and neural networks, 2001.
DOI : 10.1002/0471221546

]. J. Hayward, Near misses as a measure of safety at urban intersections. Near Misses as a Measure of Safety at Urban Intersections, 1971.

]. R. Hermann and A. Krener, Nonlinear controllability and observability, IEEE Transactions on Automatic Control, vol.22, issue.5, pp.728-740, 1977.
DOI : 10.1109/TAC.1977.1101601

]. J. Hol, Resampling in particle filters, 2004.

]. J. Hol, T. B. Schon, and F. Gustafsson, On Resampling Algorithms for Particle Filters, 2006 IEEE Nonlinear Statistical Signal Processing Workshop, pp.79-82, 2006.
DOI : 10.1109/NSSPW.2006.4378824

]. Y. Hsu and J. C. Gerdes, EXPERIMENTAL STUDIES OF USING STEERING TORQUE UNDER VARIOUS ROAD CONDITIONS FOR SIDESLIP AND FRICTION ESTIMATION, Proceedings of the 2007 IFAC Symposium on Advances in Automotive Control, 2007.
DOI : 10.3182/20070820-3-US-2918.00012

T. L. Hsu and . Chen, Vehicle Full-State Estimation and Prediction System Using State Observers, IEEE Transactions on Vehicular Technology, vol.58, issue.6, pp.2651-2662, 2009.

]. F. Ibrahim, Curve warning system, US Patent, vol.7, p.751973, 2010.

]. H. Imine and V. Dolcemascolo, Rollover risk prediction of heavy vehicle in interaction with infrastructure, International Journal of Heavy Vehicle Systems, vol.14, issue.3, pp.294-307, 2007.
DOI : 10.1504/IJHVS.2007.015605
URL : https://hal.archives-ouvertes.fr/hal-00363384

]. H. Imine and V. Dolcemascolo, Sliding mode observers to heavy vehicle vertical forces estimation, International Journal of Heavy Vehicle Systems, vol.15, issue.1, pp.53-64, 2008.
DOI : 10.1504/IJHVS.2008.017983
URL : https://hal.archives-ouvertes.fr/hal-00595694

]. S. Jacob, Tire modeling and friction estimation, 2007.

]. L. Jun, W. Sumei, P. Ke, X. Jun, W. Yun et al., Research on On-line Measurement and Prediction for Vehicle Motion State, 2010 International Conference on Digital Manufacturing & Automation, pp.247-250, 2010.
DOI : 10.1109/ICDMA.2010.178

]. C. Jung and C. R. Kelber, A lane departure warning system using lateral offset with uncalibrated camera, Proceedings. 2005 IEEE Intelligent Transportation Systems, 2005., pp.102-107, 2005.
DOI : 10.1109/ITSC.2005.1520073

]. R. Kalman, A New Approach to Linear Filtering and Prediction Problems, Journal of Basic Engineering, vol.82, issue.1, pp.35-45, 1960.
DOI : 10.1115/1.3662552

]. R. Kamnik, F. Boettiger, and K. Hunt, Roll dynamics and lateral load transfer estimation in articulated heavy freight vehicles, Proceedings of the Institution of Mechanical Engineers, pp.985-997, 2003.
DOI : 10.1243/095440703770383884

]. K. Kawashima, T. Uchida, and Y. Hori, Rolling stability control based on electronic stability program for in-wheel-motor electric vehicle. system, 2009.

]. K. Kawashima, Y. Hori, T. Uchida, and O. Sehoon, Robust bank angle estimation for rolling stability control on electric vehicle, 2010 11th IEEE International Workshop on Advanced Motion Control (AMC), pp.448-453, 2010.
DOI : 10.1109/AMC.2010.5464087

M. D. Keall and S. V. Newstead, Four-wheel Drive Vehicle Crash Involvement Risk, Rollover Risk and Injury Rate in Comparison to Other Passenger Vehicles: Estimates Based on Australian and New Zealand Crash Data and on New Zealand Motor Vehicle Register Data, 2007.

]. H. Khalil, Nonlinear systems, 2002.

]. U. Kiencke and L. Nielsen, Automotive control systems for engine, driveline, and vehicle, 2005.

]. S. Kim and H. K. Jung, Functional suspension modeling for real-time vehicle dynamics analysis using K&C test data, FISTA Conference, pp.231-237, 2004.

]. J. Kim, Identification of lateral tyre force dynamics using an extended Kalman filter from experimental road test data, Control Engineering Practice, vol.17, issue.3, pp.357-367, 2009.
DOI : 10.1016/j.conengprac.2008.08.002

]. G. Kitagawa, Monte Carlo filter and smoother for non-Gaussian nonlinear state space models, Journal of computational and graphical statistics, vol.5, issue.1, pp.1-25, 1996.

]. D. Lee, A Theory of Visual Control of Braking Based on Information about Time-to-Collision, Perception, vol.241, issue.2, pp.437-459, 1976.
DOI : 10.1068/p050437

]. S. Lee, W. Kwon, and J. W. Lee, A vision based lane departure warning system, Proceedings. of 1999 IEEE, pp.160-165, 1999.

]. J. Lee, A Machine Vision System for Lane-Departure Detection, Computer Vision and Image Understanding, vol.86, issue.1, pp.52-78, 2002.
DOI : 10.1006/cviu.2002.0958

]. K. Li, H. S. Tan, J. A. Misener, and J. K. Hedrick, Digital map as a virtual sensor - dynamic road curve reconstruction for a curve speed assistant, Vehicle System Dynamics, vol.46, issue.12, pp.1141-1158, 2008.
DOI : 10.1080/00423110701837110

]. L. Li, H. Li, X. Zhang, L. He, and J. Song, Real-time Tire Parameters Observer for Vehicle Dynamics Stability Control, Chinese Journal of Mechanical Engineering, vol.23, issue.05, pp.620-626, 2010.
DOI : 10.3901/CJME.2010.05.620

]. E. Liebemann, K. Meder, J. Schuh, and G. Nenninger, Safety and Performance Enhancement: The Bosch Electronic Stability Control (ESP) Rapport technique, 2004.

]. J. Liu and R. Chen, Sequential Monte Carlo Methods for Dynamic Systems, Journal of the American Statistical Association, vol.24, issue.443, pp.1032-1044, 1998.
DOI : 10.1073/pnas.94.26.14220

]. L. Ljung, Asymptotic behavior of the extended Kalman filter as a parameter estimator for linear systems, IEEE Transactions on Automatic Control, vol.24, issue.1, pp.36-50, 1979.
DOI : 10.1109/TAC.1979.1101943

]. W. Louwerse and S. P. Hoogendoorn, ADAS safety impacts on rural and urban highways, IEEE Intelligent Vehicles Symposium, 2004, pp.887-890, 2004.
DOI : 10.1109/IVS.2004.1336502

]. S. Mammar, S. Glaser, M. Netto, and J. Blosseville, Time-to-line crossing and vehicle dynamics for lane departure avoidance, Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No.04TH8749), pp.618-623, 2004.
DOI : 10.1109/ITSC.2004.1398972

]. S. Mammar, S. Glaser, and M. Netto, Time to Line Crossing for Lane Departure Avoidance: A Theoretical Study and an Experimental Setting, IEEE Transactions on Intelligent Transportation Systems, vol.7, issue.2, pp.226-241, 2006.
DOI : 10.1109/TITS.2006.874707
URL : https://hal.archives-ouvertes.fr/hal-00342828

]. S. Mammar, S. Glaser, and M. Netto, Vehicle lateral dynamics estimation using unknown input proportional-integral observers, 2006 American Control Conference, 2006.
DOI : 10.1109/ACC.2006.1657456
URL : https://hal.archives-ouvertes.fr/hal-00342829

]. L. Menhour, Synth`Synth`se de commandes au volant d'une automobile pour le diagnostic de rupture d'un itinéraire. Développement et validation expérimentale, 2010.

]. L. Menhour, D. Lechner, and A. Charara, Steering control and road bank angle estimation to evaluate the vehicle behaviour under high dynamic loads: Experimental evaluation, Proceedings of the 18th World Congress of the International Federation of Automatic Control (IFAC WC 2011), 2011.
DOI : 10.3182/20110828-6-IT-1002.01376

F. Novara, D. Mastronardi, and . Amoroso, Experimental modeling of vertical dynamics of vehicles with controlled suspensions, SAE world congress, 2004.

]. D. Milliken, E. M. Kasprak, L. D. Metz, and W. F. Milliken, Race car vehicle dynamics, 2003.

]. M. Minderhoud, P. Hl, and . Bovy, Extended time-to-collision measures for road traffic safety assessment, Accident Analysis & Prevention, vol.33, issue.1, pp.89-97, 2001.
DOI : 10.1016/S0001-4575(00)00019-1

]. O. Mokhiamar and M. Abe, Active wheel steering and yaw moment control combination to maximize stability as well as vehicle responsiveness during quick lane change for active vehicle handling safety, Proceedings of the Institution of Mechanical Engineers, pp.115-124, 2002.
DOI : 10.1243/0954407021528968

]. P. Moraal and J. W. Grizzle, Observer design for nonlinear systems with discrete-time measurements, IEEE Transactions on Automatic Control, vol.40, issue.3, pp.395-404, 1995.
DOI : 10.1109/9.376051

]. V. Morellas, T. Morris, L. Alexander, and M. Donath, Preview based control of a tractor trailer using DGPS for preventing road departure accidents, Proceedings of Conference on Intelligent Transportation Systems, pp.797-805, 1997.
DOI : 10.1109/ITSC.1997.660576

. Nhtsa and . Nhtsa, National highway traffic safety administration (NHTSA) website: www

]. A. Nilsson and H. Lingefelt, Estimation of vehicle roll angle, 2011.

]. J. Oh and S. B. Choi, Vehicle roll and pitch angle estimation using a cost-effective six-dimensional inertial measurement unit, Proceedings of the Institution of Mechanical Engineers, pp.577-590, 2013.
DOI : 10.1177/0954407012459138

]. R. Osborn and T. Shim, Independent control of all-wheel-drive torque distribution, Vehicle System Dynamics, vol.10, issue.7, pp.529-546, 2006.
DOI : 10.4271/870421

]. H. Pacejka, E. Bakker, and L. Nyborg, Tyre modelling for use in vehicle dynamics studies, Bibliography SAE paper, vol.870421, 1987.

]. H. Pacejka, Tire and vehicle dynamics, 2006.

]. D. Piyabongkarn, R. Rajamani, J. A. Grogg, and J. Y. Lew, Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control, IEEE Transactions on Control Systems Technology, vol.17, issue.1, pp.78-88, 2009.
DOI : 10.1109/TCST.2008.922503

]. D. Pomerleau, T. Jochem, C. Thorpe, P. Batavia, D. Pape et al., Run-off-road collision avoidance using IVHS countermeasures. US Department of Transportation, National Highway Traffic Safety Administration. Report DOT HS, vol.809, p.170, 1999.

]. H. Prem, R. George, and J. Mclean, Methods for evaluating the dynamic-wheel-load performance of heavy commercial vehicle suspensions, The 5th international symposium on heavy vehicle weights and dimensions, pp.252-278, 1998.

]. R. Rajamani, D. Piyabongkarn, J. Y. Lew, and J. A. Grogg, Algorithms for realtime estimation of individual wheel tire-road friction coefficients, American Control Conference, 2006.

]. R. Rajamani, Vehicle dynamics and control, 2012.
DOI : 10.1007/978-1-4614-1433-9

]. L. Ray, Nonlinear Tire Force Estimation and Road Friction Identification: Simulation and Experiments11This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor M. Tomizuka under the direction of Editor K. Furuta.,22Extended Kalman-Bucy filtering and Bayesian hypothesis selection can be used to estimate longitudinal and lateral tire forces and road coefficient of friction of vehicles on asphalt surfaces., Automatica, vol.33, issue.10, pp.1819-1833, 1997.
DOI : 10.1016/S0005-1098(97)00093-9

]. L. Ray, Experimental determination of tire forces and road friction, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207), pp.1843-1847, 1998.
DOI : 10.1109/ACC.1998.707336

]. N. Reza, Vehicle dynamics theory and application, 2007.

]. J. Ryu, E. J. Rossetter, and J. C. Gerdes, Vehicle sideslip and roll parameter estimation using GPS, Proceedings of AVEC 2002 6th International Symposium of Advanced Vehicle Control, 2002.

]. J. Ryu and J. C. Gerdes, Estimation of vehicle roll and road bank angle, Proceedings of the 2004 on American Control Conference, pp.2110-2115, 2004.

]. T. Sayer, J. R. Sayer, and J. M. Devonshire, Assessment of a driver interface for lateral drift and curve speed warning systems: mixed results for auditory and haptic warnings, Proceedings of Driving Assessment, pp.218-224, 2005.

]. K. Senger and W. Korturn, Investigations on state-observers for the lateral dynamics of four-wheel steered systems. The Dynamics of Vehicles on Roads and on Tracks, pp.515-527, 1989.

]. C. Sentouh, S. Glaser, and S. Mammar, Advanced vehicle???infrastructure???driver speed profile for road departure accident prevention, Vehicle System Dynamics, vol.44, issue.sup1, pp.612-623, 2006.
DOI : 10.1080/00423110600879395
URL : https://hal.archives-ouvertes.fr/hal-00342883

]. C. Sentouh, Analyse du risque et détection de situations limites: application au développement des systèmes d'alerte au conducteur, 2007.

T. Han-shue and M. Tomizuka, Nonlinear tire lateral force versus slip angle curve identification, Proceedings of the 2004 on American Control Conference, pp.2128-2133, 2004.

]. M. Shino and M. Nagai, Yaw-moment control of electric vehicle for improving handling and stability, JSAE Review, vol.22, issue.4, pp.473-480, 2001.
DOI : 10.1016/S0389-4304(01)00130-8

]. R. Smeed, Some Statistical Aspects of Road Safety Research, Journal of the Royal Statistical Society. Series A (General), vol.112, issue.1, pp.1-34, 1949.
DOI : 10.2307/2984177

]. D. Smith and J. M. Starkey, Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Model Development, Validation and Comparison, Vehicle System Dynamics, vol.108, issue.2, pp.163-181, 1995.
DOI : 10.1109/25.9890

]. N. Smith, Understanding parameters influencing tire modeling, 2004.

]. D. Solomon, Accidents on main rural highways related to speed, driver, and vehicle, 1964.

]. R. Song, Estimation of vehicle's vertical and lateral tire/road forces with nonzero road bank angle, 2013.

]. H. Sorenson, Kalman filtering: Theory and application. IEEE Press selected reprint series, 1960.

]. J. Stéphant, Contribution à l'étude et à la validation expérimentale d'observateurs appliqués à la dynamique du véhicule, 2004.

]. L. Sun, X. Cai, and J. Yang, Genetic algorithm-based optimum vehicle suspension design using minimum dynamic pavement load as a design criterion, Journal of Sound and Vibration, vol.301, issue.1-2, pp.18-27, 2007.
DOI : 10.1016/j.jsv.2006.08.040

]. K. Suzuki and H. Jansson, An analysis of driver's steering behaviour during auditory or haptic warnings for the designing of lane departure warning system, JSAE Review, vol.24, issue.1, pp.65-70, 2003.
DOI : 10.1016/S0389-4304(02)00247-3

]. S. Takano and M. Nagai, Dynamics control of large vehicles for rollover prevention, IVEC2001. Proceedings of the IEEE International Vehicle Electronics Conference 2001. IVEC 2001 (Cat. No.01EX522), pp.85-89, 2001.
DOI : 10.1109/IVEC.2001.961731

]. M. Taylor, D. A. Lynam, A. Baruya, and G. Britain, The effects of drivers' speed on the frequency of road accidents, 2000.

]. D. Thomas, Fundamentals of vehicle dynamics, 1997.

]. H. Tseng, B. Ashrafi, D. Madau, B. Allen, and D. Recker, The development of vehicle stability control at Ford, IEEE/ASME Transactions on Mechatronics, vol.4, issue.3, pp.223-234, 1999.
DOI : 10.1109/3516.789681

]. H. Tseng, Dynamic Estimation of Road Bank Angle, Vehicle System Dynamics, vol.36, issue.4-5, pp.307-328, 2001.
DOI : 10.1076/vesd.36.4.307.3547

]. V. Tsourapas, D. Piyabongkarn, A. C. Williams, and R. Rajamani, New method of identifying real-time Predictive Lateral load Transfer Ratio for rollover prevention systems, 2009 American Control Conference, pp.439-444, 2009.
DOI : 10.1109/ACC.2009.5160061

R. Van-der-horst and J. Hogema, Time-to-collision and collision avoidance systems, VERKEERSGEDRAG IN ONDERZOEK, 1994.

]. A. Vietinghoff, M. Hiemer, and U. Kiencke, NONLINEAR OBSERVER DESIGN FOR LATERAL VEHICLE DYNAMICS, Proc. 16th IFAC World Congress, 2005.
DOI : 10.3182/20050703-6-CZ-1902.00166

]. E. Wan and R. Van-der-merwe, The unscented Kalman filter for nonlinear estimation, Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373), pp.153-158, 2000.
DOI : 10.1109/ASSPCC.2000.882463

B. J. Wang and . Frost, Time to collision is signalled by neurons in the nucleus rotundus of pigeons, Nature, vol.356, issue.6366, 1992.
DOI : 10.1038/356236a0

]. B. Wang, A. C. Victorino, A. Charara, K. Augsburg, and K. Höpping, Assessment of rollover stability based on risk indicator, 2013 IEEE Symposium on Computational Intelligence for Engineering Solutions (CIES), 2013.
DOI : 10.1109/CIES.2013.6611729
URL : https://hal.archives-ouvertes.fr/hal-00794337

]. G. Welch, G. A. Bishop-]-t, K. J. Wenzel, M. V. Burnham, R. A. Blundell et al., An introduction to the Kalman filter, Dual extended Kalman filter for vehicle state and parameter estimation. Vehicle System Dynamics, pp.153-171, 1995.

]. J. Wong, Theory of ground vehicles, 2008.

]. L. Xu and H. E. Tseng, Robust Model-Based Fault Detection for a Roll Stability Control System, IEEE Transactions on Control Systems Technology, vol.15, issue.3, pp.519-528, 2007.
DOI : 10.1109/TCST.2006.890287

]. H. Yu, L. Güvenc, and Ü. Özgüner, Heavy duty vehicle rollover detection and active roll control, Vehicle System Dynamics, vol.43, issue.6, pp.451-470, 2008.
DOI : 10.1115/1.1434982

]. G. Yu, D. Wang, Q. Li, P. W. Wang, and Y. P. Wang, Road Bank Estimation for Bus Rollover Prediction, Applied Mathematics & Information Sciences, vol.7, issue.5, pp.2027-2034, 2013.
DOI : 10.12785/amis/070543

]. A. Van and . Zanten, Bosch ESP systems: 5 years of experience, SAE Technical Paper, pp.428-436, 2000.

]. W. Zhan, Y. Lin, G. B. Shi, and L. G. Wang, Study on Non-Linear Dynamic Characteristic of Vehicle Suspension Rubber Component, International ADAMS User Conference, 2000.

]. Y. Zhang, D. H. Hong, J. H. Chung, and S. A. Velinsky, Dynamic model based robust tracking control of a differentially steered wheeled mobile robot, Proceedings of the 1998 American Control Conference, pp.850-855, 1998.

]. X. Zhu, C. Qiu, L. Guo, and Y. Zhang, New method for slip and tire force estimation of wheeled mobile robot on inclined terrain, 2011 IEEE International Conference on Robotics and Biomimetics, pp.2264-2269, 2011.
DOI : 10.1109/ROBIO.2011.6181635