Robust Vehicle Mass and Driving Resistance Estimation

A robust parameter estimation algorithm for vehicle mass and driving resistance is presented. The estimation scheme uses a vehicle longitudinal model and common vehicle sensor signals. In contrast to other driving resistance estimators the proposed robust formulation copes with typical real-world problems encountered in vehicle parameter estimation like measurement outliers and insufficient excitation in the input signals. The robust estimator shows good performance compared to existing estimators on real-world data with difficult characteristics.