Center of Gravity and Centrifugal Force

Hi, I have this problem that I'm trying to solve and it has been a few years since I've taken Physics. I want to know how you would approach and solve this problem, and what equations you would use. Hopefully somebody here can help me out.

The Problem:
A vehicle is on a road that is V inches wide and the vehicle has a center of gravity of X inches. It then starts to go around a bend of Y degrees at an angle of inclination of Z degrees at a velocity of W. The angle of inclination is present so that the centrifugal force does not push the vehicle off of the road. The gravitational force will balance the centrifugal force assuming the velocity is appropriate.

My Questions:
-I know there is the concept of centripetal force as well, but how does it come into play in this case?
-As the vehicle starts to go around the bend, how will the center of gravity start to shift? I want to know what will cause the vehicle to flip over? There should be two factors. They are the angle of inclination and the velocity. The vehicle should flip if the it moves too fast (topples outwards) or too slow (topples inwards).

Lots of variables, I know, but unfortunately I don't have any numbers at this point. I can come up with some estimates if you require any to put some perspective to this problem.
Your help is greatly appreciated. Thanks.