Abstract
This work proposes a two stage estimation strategy to determine a heavy duty vehicles's mass and road grade. The estimation strategy uses standard signals available through the vehicle control area network. The first stage of this approach utilizes an adaptive least-squares estimation strategy to determine the vehicle's mass. Due to the time varying nature of the road grade, a nonlinear estimator is then developed that provides a more accurate estimate of the road grade. An estimation analysis is provided for both stages that proves, under a set of qualifying conditions, both the mass and road grade can be estimated. The validity of this two stage approach is verified using experimental data.
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