The present invention provides an iterative joint estimation method of vehicle mass and road gradient based on MMRLS and SH-STF, which includes the following steps: establishment of a dynamic model considering steering, MMRLS/SH-STF iterative joint estimation algorithm architecture, improved slope estimation algorithm based on SH-STF. It is an iterative joint estimation method of vehicle mass and road slope based on MMRLS and SH-STF, which is designed reasonably, and the slow-variation characteristics of vehicle mass and the time-varying characteristics of road gradient are analyzed. According to the characteristics of gradual change and time change, based on the longitudinal dynamics model of the vehicle and the steering single-track model, the system identification algorithm of multi-model fusion recursive least squares is used to calculate the vehicle mass, and the noise adaptive strong tracking based on extended Kalman filter is used.

A computer implemented method for controlling a vehicle includes obtaining a value of the mass of the vehicle, receiving a plurality of time sequential measured first values of one or more 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 start value, receiving a plurality of time sequential measured second values of the one or more of the further state parameters, and 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, with the first calculated mass value as a start value, wherein the second filter tuning is made less aggressive than the first filter tuning.

A computer implemented method for controlling a vehicle includes obtaining a value of the mass of the vehicle, receiving a plurality of time sequential measured first values of one or more 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 start value, receiving a plurality of time sequential measured second values of the one or more of the further state parameters, and 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, with the first calculated mass value as a start value, wherein the second filter tuning is made less aggressive than the first filter tuning.

Systems and methods for reporting on vehicle characteristics determined by the control system of a multi-speed automatic transmission of a vehicle are provided. The control system may output a vehicle mass alert based on a relationship between a vehicle mass threshold and a determined vehicle mass satisfying a condition. The control system may output a vehicle road grade alert based on a relationship between a vehicle road grade threshold and a determined vehicle road grade satisfying a condition.

Systems and methods for reporting on vehicle characteristics determined by the control system of a multi-speed automatic transmission of a vehicle are provided. The control system may output a vehicle mass alert based on a relationship between a vehicle mass threshold and a determined vehicle mass satisfying a condition. The control system may output a vehicle road grade alert based on a relationship between a vehicle road grade threshold and a determined vehicle road grade satisfying a condition.

A lane departure prevention device includes a control unit that executes lane keeping control (automatic steering of a steering wheel and/or issuing of a warning) when it is determined that a vehicle may move out of a lane. The control unit withholds execution of the lane keeping control until it is determined that a return-to-control condition is satisfied when it is determined that a driver has gone from showing no intention to move out of the lane to showing an intention to move out of the lane to cross a first lane boundary. The control unit continues, when it is determined that the vehicle is approaching a second white line present in a traveling direction with a speed equal to or faster than a reference value, continues withholding the execution of the lane keeping control even when it is determined that the return-to-control condition is satisfied.

A lane departure prevention device includes a control unit that executes lane keeping control (automatic steering of a steering wheel and/or issuing of a warning) when it is determined that a vehicle may move out of a lane. The control unit withholds execution of the lane keeping control until it is determined that a return-to-control condition is satisfied when it is determined that a driver has gone from showing no intention to move out of the lane to showing an intention to move out of the lane to cross a first lane boundary. The control unit continues, when it is determined that the vehicle is approaching a second white line present in a traveling direction with a speed equal to or faster than a reference value, continues withholding the execution of the lane keeping control even when it is determined that the return-to-control condition is satisfied.

A method for operating a vehicle that includes a driveline disconnect clutch is described. In one example, the method adjusts torque of an electric machine in response to a estimated torque capacity of the driveline disconnect clutch. The estimated torque capacity of the driveline disconnect clutch is based on a combined inertia of a dual mass flywheel and the driveline disconnect clutch.

A method for operating a vehicle that includes a driveline disconnect clutch is described. In one example, the method adjusts torque of an electric machine in response to a estimated torque capacity of the driveline disconnect clutch. The estimated torque capacity of the driveline disconnect clutch is based on a combined inertia of a dual mass flywheel and the driveline disconnect clutch.

An energy storage system for a military vehicle includes a lower support, a battery supported on the lower support, a bracket coupled to the battery, and an upper isolator mount coupled between the bracket and a wall. The upper isolator mount is configured to provide front-to-back vibration isolation of the battery relative to the wall.