Integrated vehicle mass estimation for vehicle safety control using the recursive least-squares method and adaptation laws

Abstract

The purpose of this study is to estimate the vehicle mass for vehicle safety control. The vehicle mass is considered to be a constant parameter for some vehicle safety control systems, but it changes according to the number of the passengers or the load weight that the vehicle carries. This paper suggests an integrated vehicle mass estimation algorithm using the recursive least-squares method and adaptation laws. First, the vehicle mass is estimated from the longitudinal dynamics using the recursive least-squares method. Second, three kinds of estimation algorithm are suggested from the roll dynamics. Two of the algorithms are designed using the adaptation law from a Lyapunov stability analysis and the roll angle observer, and the last algorithm is designed using the recursive least-squares method. Finally, the multiple-observer synthesis integrates the estimated mass values calculated using the longitudinal dynamics and the roll dynamics. The proposed vehicle mass estimation algorithm is evaluated via simulation using CarSim and via experimentation using a test vehicle.