Road slope and vehicle mass estimation for light commercial vehicle using linear Kalman filter and RLS with forgetting factor integrated approach

摘要

This paper explains application of Kalman filter theory and recursive least squares algorithm with forgetting factor on real time estimation problem of light commercial vehicle mass and road grade on which motor vehicle moves. After a brief survey on mass and slope estimating in literature, there are proposed algorithms theoretical approaches and implementations on a real-time ECU. The test data are obtained from urban, extra-urban and highway experiments with prototypal vehicles.