#5713. Optimization-based online estimation of vehicle mass and road grade: Theoretical analysis and experimental validation

August 2026publication date
Proposal available till 28-05-2025
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Journal’s subject area:
Mechanical Engineering;
Computer Science Applications;
Control and Systems Engineering;
Electrical and Electronic Engineering;
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Abstract:
The gross vehicle mass (GVM) and the road grade are two factors that both have a substantial influence on the performance of a vehicles powertrain. In this paper, we propose a novel model-based estimation method for the GVM and the road grade that exploits entire sequences of powertrain measurements at once and is formulated as a nonlinear program (NLP). The estimator is based on a simple model for the vehicles longitudinal dynamics with only few intuitive vehicle parameters. By assuming the GVM to remain constant during certain sections of the trip and by describing the road grade profile in the distance domain, we achieve a separation of scales, which enhances disturbance rejection and significantly lowers the number of optimization variables. The resulting estimator is thoroughly analyzed both analytically and numerically.
Keywords:
Optimization; Road grade estimation; Vehicle mass estimation

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