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Vehicle controls including dynamic vehicle mass and road grade estimation during vehicle operation

  • US 9,725,093 B2
  • Filed: 08/31/2015
  • Issued: 08/08/2017
  • Est. Priority Date: 09/23/2014
  • Status: Active Grant
First Claim
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1. A method of controlling a vehicle system including an engine and a controller, the method comprising:

  • operating the vehicle system to propel the vehicle;

    during operation of the vehicle system;

    determining with the controller a vehicle mass estimate and an uncertainty of the vehicle mass estimate,evaluating with the controller the uncertainty of the vehicle mass estimate relative to at least one criterion,if the uncertainty of the vehicle mass estimate satisfies the criterion, determining with the controller a road grade estimate by recursively predicting a road grade based upon a model of the vehicle system and the vehicle mass estimate, correcting the prediction based upon a measurement of operation of the vehicle system, and providing the corrected prediction as the road grade estimate; and

    controlling with the controller utilizing the road grade estimate at least one of a vehicle speed and an engine output, wherein the criterion comprises an uncertainty threshold and the acts of determining with the controller the vehicle mass estimate and the uncertainty of the vehicle mass estimate and evaluating with the controller the uncertainty of the vehicle mass estimate relative to the criterion are repeated until the uncertainty of the vehicle mass estimate is below the uncertainty threshold.

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