Automotive research and development passed through a vast evolution during past decades. Many passive and active driver assistance systems were developed, increasing the passengers' safety and comfort. This ongoing process is a main focus in current research and offers great potential for further systems, especially focusing on the task of autonomous and cooperative driving in the future. For that reason, information about the current stability in terms of dynamic behavior and vehicle environment are necessary for the systems to perform properly. Thus, model-based online state and parameter estimation have become important throughout the last years using a detailed vehicle model and standard sensors, gathering this information. In this chapter, state and parameter estimation in vehicle dynamics utilizing the unscented Kalman filter is presented. The estimation runs in real time based on a detailed vehicle model and standard measurements taken within the car. The results are validated using a Volkswagen Golf GTE Plug-In Hybrid for various dynamic test maneuvers and a Genesys Automotive Dynamic Motion Analyzer (ADMA) measurement unit for highprecision measurements of the vehicle's states. Online parameter estimation is shown for friction coefficient estimation performing maneuvers on different road surfaces.

I THE German universities, like their modern British counterparts, grew up at a time in which, owing to their small size, the major share of teaching was done by professors who also more or less monopolised the internal administrative power of the university. In Germany the corps of professors was supplemented by a class of teachers who were not on the payroll of the university and who had no part in the government of the university. These were the Privatdozenten. They were remunerated only on a capitation basis from the fees paid by students who attended their lectures. They drew no regular salary from the university; they were, moreover, expected to conduct such research as they wished without any aid from the universities.As the student body increased in size in the German universities, the number of Privatdozenten increased with them, while the number of full professors lagged behind. Thus, between 1886 and 1911, the student body increased by 97 per cent., the number of Privatdozenten increased by 94 per cent., while that of full professors increased by only 23 per cent? From 1864 to 1953 the proportion of full professors in the university teaching staff fell from 49 per cent. to 26 per cent. ~ A disproportionate burden was being carried by the Privatdozenten. Their burdens were further increased as research changed in scale and costliness, so that the Privatdozent of very limited means--as the typical Privatdozent came increasingly to be--was prevented from fulfilling his obligation and desire to do research.The situation could not continue as it was. The old German university had been rendered out of date by the growth in the size of its student body and by the changed importance and character of scientific research. In the following essay, the evolution of the Privatdozent, that essential institution of the nineteenth-century German university, is examined in order to illustrate the process of adaptation which the contemporary German university is now undergoing in response to the democratisation of university education and the recent development of science.

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