| Joint Estimation of Truck Mass and Road Slope Based on the Unscented Kalman Smoother |
| Ning Wang, Xiufeng Li, Liaodong Nie, Kuan Kei Hoi |
| School of Automotive Studies, Tongji University, Shanghai, 201800, China |
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Received: May 9, 2025; Revised: August 13, 2025 Accepted: October 16, 2025. Published online: November 19, 2025. |
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| ABSTRACT |
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The vehicle mass is a crucial parameter for analyzing operational conditions and maintenance needs from multi-source heterogeneous vehicle data. For the mass estimation of light trucks, a vehicle longitudinal dynamics model that considers the coupling of sensor nonlinear noise has been established. Furthermore, this paper optimizes the Unscented Kalman Smoother (UKS) algorithm by considering dynamic time steps and backward parameter propagation. The estimation method uses unstructured basic vehicle parameters and structured onboard Controller Area Network (CAN) data as inputs to dynamically identify vehicle status and output joint estimates of truck mass and slope. Using real road sections in Nanchang as examples, we conducted multiple rounds of testing on this estimation method. Results show that the estimation accuracy of this method can exceed 95%, with convergence speeds reaching seconds-level granularity. In addition, the estimation technique achieves greater speed and accuracy in scenarios with unloaded and fully loaded; however, in cases of partial loading, there is a noticeable increase in variability of the recognition outcomes, along with a comparatively extended settling time. |
| Key Words:
Unscented kalman smoother · Mass estimation · Vehicle dynamics · Nonlinear system · Slope reconstruction |
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Corresponding Author.
Liaodong Nie , Email. 
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