Vehicle Mass and Road Grade Estimation Based on Adaptive Forgetting Factor RLS and EKF Algorithm

Real-time information about vehicle mass and road grade is important for vehicle handling and stability control. This paper establishes the longitudinal kinematics model of vehicles, using the recursive least squares method with adaptive forgetting factors and extended Kalman filter algorithm to estimate the vehicle mass and road grade respectively. The experimental results indicate that the algorithm can estimate the vehicle mass and road grade well without adding sensors, and the convergence and steady-state error meet the requirements of the actual vehicle control system.