Vehicle mass estimation

Approach
Mathematical model of vehicle longitudinal dynamics
Presentation in linear form
Initial estimates
RLS algorithm
Solutions to expected problems
Mathematical model of vehicle
longitudinal dynamics
Vehicle longitudinal axis (or also called symmetry axis) represents the line between the center's
of the front and rear axle tracks.
The name, ‘Vehicle longitudinal dynamics’ is so because in a majority of vehicles the power
transmission occurs along this axis, starting from engine to the wheels arranged along the axis.
Goal – To formulate a model which is efficient in accounting for major losses and with results
accurate enough compared to coast down method.
To model the torque flow developed at the engine.
To account for various losses to be encountered in the powertrain.
To account for losses caused due to environment around the car.
To minimize the use of special sensors so that end products market value doesn’t increase.
To produce results as accurate as possible for the ESP algorithm to take action.
Breakdown of vehicle powertrain
Tractive force at the wheels after accounting Wheels

Inertia losses. Clutch

Final
Engine /Torque Transmission
𝐹𝑡𝑟𝑎𝑐𝑡𝑖𝑣𝑒 = 𝑇𝑒 η𝑡𝑜𝑡𝑎𝑙 𝑈𝑔 − 𝐽𝑡𝑜𝑡𝑎𝑙 𝑈𝑔2 Ṿ𝑤 converter drive

Where Wheels
• 𝐹𝑡𝑟𝑎𝑐𝑡𝑖𝑣𝑒 - is the force moving the vehicle.
• 𝑇𝑒 - engine work output.
• η𝑡𝑜𝑡𝑎𝑙 - mechanical efficiency of the powertrain.
𝑖𝑡𝑓
• 𝑈𝑔 = 𝑟𝑤
• 𝐽𝑡𝑜𝑡𝑎𝑙 = total polar moment of inertia rotating parts in power train.
• Ṿ𝑤 - rate of change of linear velocity
Losses
Various losses that have been accounted in the model
Frictional force between tire tread and road surface. 𝑁
𝐹µ𝑟 = µMg
𝐹µ𝑟
Rolling resistance force.
𝑒𝑁
𝐹𝑟𝑟 = + 𝐹𝑎𝑖𝑟 𝑑𝑟𝑎𝑔
𝑟𝑤

Aerodynamic drag force.

1 𝐾α 𝑙𝑝 Ṿ𝑀
𝐹𝐴𝑒𝑟𝑜 𝑑𝑟𝑎𝑔 = ρ𝐴[𝐶𝑑 ψ + ]𝑉𝑟2
2 𝐾𝑝

Brake force.
𝐹µ𝑏 = µ𝑃𝐴
Final model expression
𝐾α 𝑙𝑝 Ṿ 1 1
Ṿ − 𝑉𝑟2 − µg= [𝑇𝑒 η𝑡𝑜𝑡𝑎𝑙 𝑈𝑔 − 𝐽𝑡𝑜𝑡𝑎𝑙 𝑈𝑔2 Ṿ𝑤 −𝐹𝑟𝑟 − 𝐹µ𝑏 − ρ𝐴𝐶𝑑 ψ 𝑉𝑟2 ]
𝐾𝑝 2 𝑀

This final expression can be written in a linear form ( output dependent on mass, ‘𝑀±1 ′)as
follows
Y = ϕ𝑇 θ
• Where
𝐾α 𝑙𝑝 Ṿ
Y=Ṿ− 𝑉𝑟2 − µg
𝐾𝑝
1
 ϕ𝑇 = [𝑇𝑒 η𝑡𝑜𝑡𝑎𝑙 𝑈𝑔 − 𝐽𝑡𝑜𝑡𝑎𝑙 𝑈𝑔2 Ṿ𝑤 −𝐹µ𝑟 −𝐹𝑟𝑟 − 𝐹µ𝑏 − ρ𝐴𝐶𝑑 ψ 𝑉𝑟2 ]
2
1
θ=
𝑀