Dynamic road gradient estimation

摘要

A vehicle and vehicle system are provided with a controller that is configured to generate output indicative of a vehicle mass estimation. The vehicle mass estimation is based on a longitudinal acceleration and a wheel torque when at least one of the longitudinal acceleration, a vehicle speed and a yaw rate indicate an occurrence of a qualified event. The controller is further configured to generate output indicative of a dynamic road gradient estimation based on the vehicle speed, the wheel torque and the vehicle mass estimation.

主权项

1. A vehicle comprising:
a controller configured to generate output indicative of a vehicle mass estimation using a recursive least square estimation based on a longitudinal acceleration, an acceleration offset and a wheel torque when at least one of the longitudinal acceleration, a vehicle speed and a yaw rate indicate an occurrence of a qualified event; wherein the vehicle mass estimation is independent of a road gradient estimation; and wherein the acceleration offset includes at least one of a lateral velocity, a lateral offset, and a vehicle pitch angle.