Integrated vehicle mass estimation using longitudinal and roll dynamics

Information of vehicle mass is crucial for vehicle safety control. Vehicle mass value is treated as a constant value for ESP(Electronic Stability Program) and other vehicle safety controls, but it varies with the number of passengers or the weight of load vehicle carries. This paper suggests an integrated mass estimation algorithm based on a recursive least square method and parameter adaptation. First, using the longitudinal dynamics and recursive least square method, the mass estimation algorithm is designed. Second, two sorts of mass estimation algorithms are designed using the roll dynamics. The first algorithm is designed using adaptation law from roll angle observer and Lyapunov stability analysis and the second algorithm is designed using recursive least square method. Then, mass estimation algorithm is finally integrated with two algorithms to estimate vehicle mass for all sorts of situations. The simulation results through CarSim and Matlab/Simulink show the performance of the proposed vehicle mass estimation algorithm.