Research on mass and road slope estimation algorithm for truck based on DRLSM

Real-time and high-precision estimation of vehicle mass and road slope information is crucial to improve vehicle control performance and driving safety. In view of this, a parallel algorithm with forgetting factor based on Double Recursive Least Squares Method (DRLSM) is proposed. In this method, two estimators run simultaneously. One estimates the mass and the other calculate the road slope. After setting different road gradients and different loading in the Trucksim/Simulink co-simulation, results show that the algorithm has fast convergence and good tracking accuracy.