The invention relates to a computer implemented method for controlling a vehicle, said control being performed by use of a non-linear model representing dynamics of the vehicle, the non-linear model giving a relationship (1) between a plurality of vehicle state parameters, the vehicle state parameters including the mass (m) of the vehicle and one or more further state parameters (v, cr, cair,α), the method comprising:- obtaining a value (m1) of the mass of the vehicle,- receiving a plurality of time sequential measured first values (v1-v14, α1-α14) of one or more of the further state parameters,- calculating a first plurality of time sequential values (m2-m14) of the vehicle mass, including a first calculated mass value (m14), using the plurality of measured first values (v1-v14, α1-α14) 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 (m1) as a start value,- receiving a plurality of time sequential measured second values (v15-v45, α15-α45) of the one or more of the further state parameters, and- calculating a second plurality of time sequential values (m15-m45) of the vehicle mass, including a second calculated mass value (m45), using the plurality of measured second values (v15-v45, α15-α45) 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 (m14) as a start value,- wherein the second filter tuning is made less aggressive than the first filter tuning,- the method further comprising using the second calculated mass value (m45) in the control of the vehicle.
A COMPUTER IMPLEMENTED METHOD FOR CONTROLLING A VEHICLE
COMPUTERIMPLEMENTIERTES VERFAHREN ZUR STEUERUNG EINES FAHRZEUGS
PROCÉDÉ MIS EN UVRE PAR ORDINATEUR POUR LA COMMANDE D'UN VÉHICULE
2024-01-31
Patent
Electronic Resource
English
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