A Cross Iteration Estimator with Base Vector for Estimation of Electric Mining Haul Truck's Mass and Road Grade.

Vehicle mass and road grade are important to traction control and safety control of electric mining haul trucks (EMHTs), especially to autonomous EMHTs. This paper proposes a base-vector based cross iteration estimator (BVCIE) to simultaneously estimate the vehicle mass and the road grade for EMHTs. To develop the estimator, the dynamics model for EMHTs is first built and the unknown parameters ar...