A joint dynamic estimation algorithm of vehicle mass and road slope considering braking and turning

Accurate estimation of vehicle mass and road slope is of great significance to the vehicle's intelligent control and realizing smart and green driving. Considering the strong coupling between vehicle mass and road slope in vehicle dynamic model and the effect of braking and turning during actual driving, this paper presents a dynamic joint estimation method of vehicle mass and road slope considering the effect of braking and turning based on the vehicle longitudinal dynamics model. Firstly, the road slope of the current step is estimated based on the EKF. Then, based on the estimated road slope, the vehicle mass is estimated through the RLS method with forgetting factor. And the method of nested loop is used to decouple the road slope and vehicle mass estimation to realize the dynamic estimation of the two parameters. Further, the effects of braking and turning during driving are eliminated by means of state keeping and segment estimation. The experimental results show that the proposed joint dynamic estimation method of vehicle mass and road slope has good robustness, fast convergence rate and high accuracy.