US 12,084,067 B2
Computer implemented method for controlling a vehicle
Mohammad Abdollahpouri, Partille (SE); and Johan Axelsson, Landvetter (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
Filed on Apr. 25, 2022, as Appl. No. 17/660,522.
Claims priority of application No. 21172305 (EP), filed on May 5, 2021.
Prior Publication US 2022/0363270 A1, Nov. 17, 2022
Int. Cl. B60W 40/13 (2012.01); B60W 40/064 (2012.01)
CPC B60W 40/13 (2013.01) [B60W 40/064 (2013.01); B60W 2040/1323 (2013.01); B60W 2520/10 (2013.01); B60W 2552/20 (2020.02)] 15 Claims
OG exemplary drawing
 
1. 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 between a plurality of vehicle state parameters, the plurality of vehicle state parameters including a mass of the vehicle and one or more further state parameters, the method comprising:
obtaining a value of the mass of the vehicle,
receiving a plurality of time sequential measured first values of one or more of the 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 first start value,
receiving a plurality of time sequential measured second values of the one or more of the further state parameters, and
subsequently 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 that is subsequent to the first filter tuning, with the first calculated mass value as a second 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 in the control of the vehicle, wherein the non-linear model represents longitudinal dynamics of the vehicle, the method comprising using the second estimated mass value in a longitudinal control of the vehicle.