A computer implemented method for controlling a vehicle includes obtaining a value of the mass of the vehicle, receiving a plurality of time sequential measured first values of one or more further state parameters, calculating a first plurality of time sequential values of the vehicle mass, including a first calculated mass value, using the plurality of measured first values of the one or more further state parameters, the non-linear model, and an extended Kalman filter with a first filter tuning, with the obtained mass value as a start value, receiving a plurality of time sequential measured second values of the one or more of the further state parameters, and calculating a second plurality of time sequential values of the vehicle mass, including a second calculated mass value, using the plurality of measured second values of the one or more further state parameters, the non-linear model, and an extended Kalman filter with a second filter tuning, with the first calculated mass value as a start value, wherein the second filter tuning is made less aggressive than the first filter tuning.
COMPUTER IMPLEMENTED METHOD FOR CONTROLLING A VEHICLE
2022-11-17
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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