METHOD FOR ESTIMATING AN AXLE LOAD DISTRIBUTION IN A ROAD TRAIN

Abstract

A method for estimating an axle load distribution in a road train, including: ascertaining at least one load on an axle of the road train using a slip value and a force value, in which the slip value represents a slip between the axle and a further axle of the road train and the force value represents a tractive or decelerating force at the axle. Also described are a related apparatus and a computer readable medium.

Claims

1-10. (canceled)

11. A method for estimating an axle load distribution in a road train, the method comprising: ascertaining at least one load on an axle of the road train using a slip value and a force value; wherein the slip value represents a slip between the axle and a further axle of the road train and the force value represents a tractive or decelerating force at the axle.

12. The method of claim 11, wherein the load is further ascertained using a freewheeling slip value in the ascertaining, wherein the freewheeling slip value represents the slip between the axle and the further axle when the force on the axle and the further axle is less than a threshold value.

13. The method of claim 12, further comprising: capturing a first vehicle state and at least one second vehicle state during operation of the road train, wherein a first slip value and a first force value are captured in the first vehicle state and a second slip value and a second force value are captured in the second vehicle state, and wherein the freewheeling slip value is determined using the first vehicle state and the second vehicle state.

14. The method of claim 13, wherein the second vehicle state is captured in the capturing if a difference between a right wheel speed value of the axle and a left wheel speed value of the axle is less than a limit value between the first vehicle state and the second vehicle state.

15. The method of claim 13, wherein the second vehicle state is captured in the capturing if the slip increases or falls monotonically between the first vehicle state and the second vehicle state.

16. The method of claim 15, wherein the second vehicle state is captured in the capturing if the force value increases or falls monotonically between the first vehicle state and the second vehicle state.

17. The method of claim 15, wherein the second vehicle state is captured in the capturing if the monotonic state ends.

18. The method of claim 11, wherein the load is further ascertained using a slip stiffness value of the axle in the ascertaining, wherein the slip stiffness value represents slip stiffnesses of wheels of the axle.

19. An apparatus for estimating an axle load distribution in a road train, comprising: an ascertaining device to ascertain at least one load on an axle of the road train using a slip value and a force value; wherein the slip value represents a slip between the axle and a further axle of the road train and the force value represents a tractive or decelerating force at the axle.

20. A computer readable medium having a computer program, which is executable by a processor, comprising: a program code arrangement having program code for estimating an axle load distribution in a road train, by performing the following: ascertaining at least one load on an axle of the road train using a slip value and a force value; wherein the slip value represents a slip between the axle and a further axle of the road train and the force value represents a tractive or decelerating force at the axle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG. 1 shows an illustration of a road train having a module for estimating an axle load distribution according to one exemplary embodiment.

[0022] FIG. 2 shows an illustration of a semitrailer train having a module for estimating an axle load distribution according to one exemplary embodiment.

[0023] FIG. 3 shows a block diagram of a system for estimating an axle load distribution according to one exemplary embodiment.

[0024] FIG. 4 shows a flowchart of a method for estimating an axle load distribution according to an exemplary embodiment.

DETAILED DESCRIPTION

[0025] FIG. 1 shows an illustration of a road train 100 having a module 102 for estimating an axle load distribution according to one exemplary embodiment. The module 102 may also be referred to as apparatus 102. The module 102 is a constituent part of an electronic brake system of the road train 100. The road train 100 consists of a tractor 104 or a towing vehicle 104 and a trailer 106 in this case. The tractor 104 is a truck 104 and has a load floor for transporting some of the load of the road train. The rest of the load is transported on the trailer 106. The tractor 104 has a driven drive axle 108 or rear axle 108 and a non-driven, steered axle 110 or front axle 110. The trailer 106 has a steered fifth wheel 112 and a rigid rear axle 114. The fifth wheel 112 is connected to a trailer coupling of the tractor 104 by way of a drawbar.

[0026] The drive axle 108 of the truck 104 is connected to a drive train of the truck 104. By way of the drive train, a driving torque is transferred to the drive axle 108. The wheels of the drive axle 108 are set into rotation 116 by way of the torque. As a result of the rotation 116, the wheels roll over the ground and this results in a tractive force 118 at the drive axle 108.

[0027] The axle 110 is not connected to the drive train. The wheels of the axle 110 are set into rotation 120 by the movement of the road train 100.

[0028] The road train 100 has brakes at all axles. During a brake procedure, a decelerating force, not illustrated here, act on all axles. The decelerating force acts counter to the tractive force.

[0029] The wheels of the road train 100 have pneumatic tires. The tires are deformed by a load on the axles 108, 110, 112, 114 such that they carry out a flexing movement during the rotation 116, 120. Here, a degree of the deformation depends on a load 122, 124 on the individual axle 108, 110. Different rolling radii emerge as a result of the deformation.

[0030] On account of different rolling radii, different rotational speeds 116, 120 emerge at the wheels of the axles 108, 110 at an overall speed of the road train 100. Additionally, the flexible tires at the driven axle 108 are deformed further by the driving torque. The driving torque results in a traction slip. The extent to which the tires deform under the torque can be mapped by a slip stiffness value. If no driving torque acts, the different rotational speeds 116, 120 result in a freewheeling slip. Together, the traction slip and the freewheeling slip yield an overall slip. The overall slip can be measured by capturing the rotational speeds 116, 120.

[0031] The module 102 is embodied to estimate an axle load distribution of the road train 100. To this end, the module 102 has an ascertainment device which ascertains at least the load 122 on the drive axle 108 using a slip value 126 and a force value 128. The slip value 126 represents the overall slip between the drive axle 108 and the front axle 110. The force value 128 represents the tractive force 118 at the drive axle 108 or the decelerating force. By way of example, the slip value 126 is determined in a vehicle controller, not illustrated here, using the rotational speeds 116, 120. The force value 128 is provided by a controller 130 of the drive train in this case. By way of example, the force value 128 can be derived from a currently provided drive power.

[0032] FIG. 2 shows an illustration of a semitrailer train 200 having a module 102 for estimating an axle load distribution according to an exemplary embodiment. The illustration substantially corresponds to the illustration in FIG. 1. The semitrailer train 200 consists of a semitrailer tractor 202 and a semitrailer 204. In the case of the semitrailer train 200, the whole load is transported on the semitrailer. The semitrailer tractor 202 does not have a dedicated load floor. A weight component of the load is supported by the semitrailer tractor 202.

[0033] Like in FIG. 1, the module 102 is embodied to estimate an axle load distribution of the semitrailer train 200. To this end, the module 102 has the device for ascertainment, which ascertains at least the load 122 on the drive axle 108 using a slip value 126 and a force value 128. Since the semitrailer tractor does not have a dedicated payload, the load 122 arises from a center of mass position 206 of the load in this case.

[0034] FIGS. 1 and 2 show schematic illustrations of an axle load estimate based on traction slip or brake slip.

[0035] Using the approach presented here, it is possible to estimate a load state of the vehicle combination 100, 200. If the towing vehicle 104, 202 is a tractor 202, a position of the center of mass 206 of the load of the semitrailer 204 is estimated. If the towing vehicle 104, 202 is a truck 104, a payload of the towing vehicle 104 is estimated. The load state is not estimated if it can be derived from a well-estimated overall mass of the overall vehicle 100, 200. In this case, a slip stiffness of the driven axles is learned by way of the axle load estimate based on traction slip.

[0036] Furthermore, the load of the towing vehicle 104, 202 can be learned if a trailer 106, 204 is connected to the vehicle 104, 202 and no axle load sensor is present. Knowledge about the load situation of the tractor 104, 202 is required in order to ascertain a brake pressure distribution between the parts of the road train 100 or between axles 108, 110 of the towing vehicle 104, 202. The function presented here estimates the load 122 on the basis of the wheel speed ratios between axles 108, 110, which are measured by wheel speed sensors, if the wheel speed ratio corresponds to the slip of the axles 108, 110.

[0037] Axle slip s 126 denotes a measured relative speed difference between two axles 108, 110. The axle slip 126 is composed of a freewheeling slip s.sub.0 and a traction slip s.sub.t.

[0038] The freewheeling slip S.sub.o is a relative speed difference between two axles 108, 110 when no tractive force 118 or braking force acts on the wheels of the considered axles 108, 110.

[0039] This is not a physical slip, but the speed difference is caused by travels of different length or by uneven rolling conditions.

[0040] The traction slip S.sub.t is a relative speed difference between a freewheeling axle 110 and a driven axle 108 and is produced by a drive torque of the driven axle 108.

[0041] An axle lateral slip s.sub.axlelr is a relative speed difference of the two wheels of an axle 108, 110.

[0042] The tractive force F.sub.longitudinal 118 is the sum of the wheel forces at the considered driven axle 108, which is only produced by the accelerating torque.

[0043] The tractive force 118 is monitored and limited by an automatic traction controller. In the meantime, the minimum tractive force 118 is stored and half the value of the minimum is subsequently used as the tractive force limit for the traction controller. This limit is increased with predefined increments, e.g. with 50 N/s, if no tractive force restriction sets in and the actual tractive force 118 is greater than this limit.

[0044] The normal force F.sub.normal 122 is the force component acting perpendicular to the road between the road and the considered drive axle 108.

[0045] The wheel slip stiffness is calculated as follows:

[00001]$T_{\mathrm{SS}}=\frac{F_{\mathrm{longitudin}.Math..Math.\mathrm{al}}}{F_{\mathrm{normal}}.Math.s_t}$

[0046] It is possible to carry out a differential slip search. The estimates of the dynamic load 122 on the driven axle 108 and of the slip stiffness of the driven axle 108 are based on the search for slip/tractive force point pairs.

[0047] The goal of the differential slip search is to find two vehicle states in which the traction slip increases monotonically between the two vehicle states, the tractive force 118 increases monotonically between the two vehicle states, no effective brake pressure acts, the tractive force 118 is not restricted by the traction controller, the actual tractive force 118 lies below the tractive force limit of the traction controller and the axle lateral slip is constant for the considered driven axle 108 and the reference axle 110. This condition ensures that the radius of curvature of the vehicle 100, 200 is constant and that no driven wheel spins during the difference search. Additionally, there should be at least one predefined minimal difference, for example 0.5%, in the traction slip and a predefined minimum difference in the tractive force 118, for example 500 N, between the two vehicle states. The second vehicle state can be assumed when the monotonic property of the traction slip or of the tractive force 118 ends or if there is a change in the axle lateral slip.

[0048] The search starts from the beginning if no tractive force 118 or a negative tractive force 118 is measured or if the actual tractive force 118 is less than a third of the last-found load maximum. The traction slip of the first vehicle state is interpolated/extrapolated to zero if a zero crossing of the tractive force 118 is found. If no zero crossing of the tractive force 118 is found and if an externally calculated freewheeling slip s.sub.0 is present, the latter is used instead of the interpolated/extrapolated traction slip.

[0049] After successful differential slip search, the freewheeling slip s.sub.0, which arises without tractive force 118, the axle slip s, which arises at a higher towing force, and the higher towing force F.sub.longitudinal are known. With the likewise known slip stiffness, it is possible to calculate the actual dynamic axle load 122 on the driven axle 108:

[00002]$F_{\mathrm{normal}}=\frac{F_{\mathrm{longitudin}.Math..Math.\mathrm{al}}}{T_{\mathrm{SS}}?\left(s-s_0\right)}$

[0050] This calculation is carried out if the quality of an axle load estimate based on the overall mass is less than a preconfigured threshold value. Otherwise, the axle load estimate based on the traction slip estimates the slip stiffness of the tires. The dynamic load estimate for the driven axle uses the estimated tire slip stiffness. If it is not available, use is made of a preconfigured slip stiffness. In the case of a tire change at a driven axle 108, use is likewise made of the preconfigured slip stiffness.

[0051] There is a load estimate at the towing vehicle 104 or an estimate of a load position 206 on the semitrailer 204.

[0052] If the vehicle 104, 202 is a truck 104 and the actual dynamic load 122 on a driven axle 108 is estimated, the load of the tractor 104 is estimated by calling the inverted vehicle model. The inverted vehicle model calculates unknown vehicle parameters, in this case the load of the towing vehicle 108, using a Newton Raphson method with the use of the known parameters. The moving average of the weighted inverse vehicle model is the result of the estimate of the load of the towing vehicle 104 if the weight is proportional to the differential slip that is the basis of the actual dynamic axle load estimate. If a change in the payload is identified, the moving average calculation is restarted.

[0053] If the vehicle type is a tractor 202 and the actual dynamic load 122 on a driven axle 108 is estimated, the load position 206 of the trailer 204 is estimated by calling the inverted vehicle model. The inverted vehicle model calculates the unknown vehicle parameter, in this case the load position 206 of the trailer 204, using a Newton Raphson method with the use of the known parameters. The moving average of the weighted inverse vehicle model is the result of the estimate of the semitrailer load position 206 if the weight is proportional to the differential slip that is the basis of the actual dynamic axle load estimate. If a change in the payload is identified, the moving average calculation is restarted.

[0054] The slip stiffness of the driven axles 108 is calculated if the load distribution of the vehicle 104, 202 is calculated with a high quality by the overall-mass-based axle load estimate. As a result, the dynamic normal forces F.sub.normal 122 of the driven axle 108 are also calculated by the vehicle model. Estimating the slip stiffness of the driven axle 108 is based on the following equations, which are based on the two vehicle states from the differential slip search:

[00003]$s_{t_1}=s_1-s_0=\frac{F_{\mathrm{longitudin}.Math..Math.{\mathrm{al}}_1}}{T_{\mathrm{SS}}.Math.F_{{\mathrm{normal}}_1}};$$s_{t_2}=s_2-s_0=\frac{F_{\mathrm{longitudin}.Math..Math.{\mathrm{al}}_2}}{T_{\mathrm{SS}}.Math.F_{{\mathrm{normal}}_2}}$

[0055] The difference of the two equations is:

[00004]$s_1-s_2=\frac{F_{\mathrm{longitudin}.Math..Math.{\mathrm{al}}_1}}{T_{\mathrm{SS}}.Math.F_{{\mathrm{normal}}_1}}-\frac{F_{\mathrm{longitudin}.Math..Math.{\mathrm{al}}_2}}{T_{\mathrm{SS}}.Math.F_{{\mathrm{normal}}_2}}$

[0056] Thus, the slip stiffness can be calculated from the two vehicle states of the differential slip search:

[00005]$T_{\mathrm{SS}}=\frac{F_{\mathrm{longitudin}.Math..Math.{\mathrm{al}}_1}}{\left(s_1-s_2\right).Math.F_{{\mathrm{normal}}_1}}-\frac{F_{\mathrm{longitudin}.Math..Math.{\mathrm{al}}_2}}{\left(s_1-s_2\right).Math.F_{{\mathrm{normal}}_2}}$

[0057] The moving average of the weighted slip stiffness T.sub.ss is the result of the semitrailer load position estimate, in which the weight is proportional to the differential slip basis of the actual dynamic axle load estimate. If a tire change is detected, the moving average estimate is restarted. The learned slip stiffnesses are stored in an EPROM in order to be available for future dynamic load estimates at the driven axles.

[0058] The relationship between axle pair speed ratios 126 under load is dependent on a known vehicle geometry, braking factors and an unknown slip stiffness. The load estimate uses this relationship to determine the load. In order to do this, the function determines the unknown slip stiffnesses using the same relationships in the reverse order if a load is assumed to be known.

[0059] The function presented here is a passive observer which has the advantage over active regulation solutions, such as the slip control, for example, that it facilitates the regulation of the braking pressure by independent functions, such as wear monitoring.

[0060] The relationship between the load and the wheel speed ratios 126 is mapped in the dynamic model of the vehicle 104, 202. The function solves this relationship in each problem cycle, for example every 20 ms. Since the dynamic model is too complex to be solved analytically, it is solved by a numerical Newton Raphson function which is an interactive root finding algorithm for scalar-scalar functions.

[0061] The algorithm searches for the value of the parameter to be learned, at which the vehicle model outputs the same wheel speed ratios 126 as are at the vehicle 104, 202 measured at the considered instant.

[0062] There is a learning phase. The parameter estimate is performed during driven phases at driven axles 108. The parameter estimate is performed during braking phases at freewheeling or non-driven axles 110. The estimate is interrupted if the tangential wheel force is less than a threshold value, for example 2000 Newton.

[0063] It is possible to estimate a parameter in each case. The estimated parameter can be slip stiffness if the load conditions are assumed to be known. The estimated parameter can be a load 122 on the towing vehicle if a trailer 106, attached via the drawbar, is connected and the load conditions are not known. The estimated parameter can be an axial center of mass position 206 of a semitrailer 204 if a semitrailer 204 is connected and the load conditions thereof are not known.

[0064] Slip stiffnesses are learned axle-by-axle if the load conditions are assumed to be known. This is the case if the estimate quality of the overall-mass-based axle load estimate component reaches a predefined threshold value, for example 95%. The estimate quality of the overall-mass-based axle load estimate component depends on the estimate quality of the overall vehicle mass and the conditions which determine how well the load condition of the tractor can be derived from the overall vehicle mass.

[0065] The following logic is used: the load condition is known if the vehicle 104, 202 drives on its own and the overall vehicle mass is known. The load condition is known if the road train 100, 200 is a truck 104 with an attached trailer 106 and both vehicle parts 104, 106 are empty. The load conditions are known if the attached trailer 106 is either a drawbar-towed trailer 106 or a semitrailer 204, equipped with an electronic brake system on the trailer, and the trailer 106, 204 axle loads are present via the CAN bus of the trailer and the vehicle overall mass is known.

[0066] The slip stiffness depends on a tire type or tire state. Therefore, the learned slip stiffness is reset to a predefined value if a tire change is identified.

[0067] In order to learn the load or the load state, the previously learned slip stiffnesses are required. The predefined values are used until these slip stiffnesses are learned. In the case of a truck 104 with an attached trailer 106, the load on the tractor 104 is learned. In the case of a tractor 202 with a semitrailer 204, the axial distance of the center of mass 206 from the kingpin is learned. The reason for this is that the tractor 202 itself does not have any payload. The tractor 202 is loaded by the semitrailer 204. This type of payload is not constant and depends on the vehicle dynamics. Therefore, it cannot be used as a vehicle parameter.

[0068] The load estimate is relatively quick since the driven phases are also taken into account. Therefore, the load state is learned in each ignition cycle and it is reset if a change in load is detected.

[0069] There is an output of filtering and quality. All these learned parameters are virtually constant. Therefore, the current estimates of these parameters are filtered axle by axle together with weighted first order Lagrange filters in order to obtain stable estimates for each parameter. The weighting of the individual estimates depends on its variance.

[0070] The quality of the estimate is based on statistical calculations. The variances of the main input variables are provided by the responsible components. In the case of learning the slip stiffness, a variance of the estimated slip stiffness emerges. A variance of the estimated wheel diameter emerges when learning both the slip stiffness and the load. In the case of learning the load, a variance of the load of the towing vehicle 104, 202 arises. These variances are propagated through the vehicle model. Hence, the theoretical variance of the estimate of the load or of the center of mass 206 in each estimate cycle can be called and both are dependent on the variance of the slip stiffnesses, which are used for the load estimate.

[0071] These instantaneous variances are filtered into a common value together with the estimated parameter value filters. In this way, the theoretical variance of the learned points of various estimators, such as an overall-mass-based estimator, a brake-slip-based estimator and a traction-slip-based estimator, is known. The variance of the estimated value of an estimator emerges therefrom:

[00006]$\mathrm{Var}?\left(\mathrm{estimation}\right)=\frac{\mathrm{Var}?\left(\mathrm{collection}\right)}{n}$

[0072] Here, n is the number of captured points.

[0073] What emerges naturally from this method is that points with a higher uncertainty or a higher variance have less effect on the final result. The different estimates are coordinated in a final estimate. The final estimate is based on the ratio of the number of captured points and the estimate variance. The higher this value, the higher the weighting of the axle estimate.

[0074] The coordinated final estimate variance the estimates is produced in two steps. First, the final estimate variance is combined as a weighted average; then the estimated variance is corrected by the variance of the variance produced by the various principal components of the various estimates.

[0075] After the statistical calculation, a final estimated parameter and its variance are available. A quality is calculated from this estimate variance. To this end, use is made of a confidence interval, which represents 1500 kg payload or half a meter of center of mass displacement, for example. In practical terms, this means that the estimate quality is 68.3% if the estimate variance equals the confidence interval.

[0076] Each learned slip stiffness is stored in an EPROM in order to be available in future ignition phases. Further learning cycles of the load or of the load state can be carried out on the basis of these stored slip stiffnesses. Learned payloads are not stored.

[0077] The estimated parameters only adapt slowly to changes in the payload or the slip stiffness on account of strong output filters. In order to learn significant changes quickly, for example as a result of a tire change or a change in payload, the filters are restarted in certain situations. The payload estimate starts anew with each ignition or when a load change identification module signals a change in load. The slip stiffness estimate starts anew if a tire change is identified on any axle.

[0078] A functional EEPROM is required for the approach presented here. Furthermore, the approach presented here is interrupted during cornering in order to exclude errors on account of various lateral slips. Likewise, the approach presented here is only carried out above a minimum speed in order to prevent learning below an air gap speed.

[0079] FIG. 3 shows a block diagram of a system 300 for estimating an axle load distribution according to one exemplary embodiment. The module 102, as illustrated in FIGS. 1 and 2, for example, is a constituent part of the system 300. Here, the module 102 has an ascertainment device 302, a learning-phase coordinator 304 and an output filter 306. The illustrated system 300 comprises further modules here. A load change identification module 308 provides a load change information item 310 for the learning-phase coordinator 304. A wheel diameter compensation module 312 provides a tire change information item 314 for the learning-phase coordinator 304. An overall mass estimator module 316 provides a quality information item 318 for the learning-phase coordinator 304. Furthermore, the overall mass estimator module 316 provides an overall mass information item 320 for the ascertainment device 302. The learning-phase coordinator 304 provides a control information item 322 for the ascertainment device 302 using the load change information item 310, the tire change information item 314 and the quality information item 318. A wheel speed filter module 324 provides a wheel speed information item 326 for the ascertainment device 302. The ascertainment device 302 is embodied to calculate or solve a vehicle model 328. To this end, parameters 330 of the vehicle model 328 are adapted and unknown parameters are estimated. Here, the parameters 330 comprise a load, slip stiffnesses and the wheel speed information item 326. The estimated parameters 332 are filtered by the output filter 306. The output filter 306 provides a filtered slip stiffness information item 334 for a storage 336. Furthermore, the output filter 306 provides a filtered load information item 338 for a load coordination module 340.

[0080] FIG. 4 shows a flowchart of a method 400 for estimating an axle load distribution according to one exemplary embodiment. By way of example, the method 400 can be carried out on a module as illustrated in the preceding figures. The method 400 has a step 402 of ascertainment. In the step 402 of ascertainment, at least one load on an axle of the road train is ascertained using a slip value and a force value. Here, the slip value represents a slip between the axle and a further axle of the road train. The force value represents a tractive or decelerating force at the axle.

[0081] In one exemplary embodiment, the step 402 of ascertainment is preceded by a step 404 of capture. In the step 404 of capture, the force value and the slip value are captured at the road train. In particular, at least two different value pairs of respectively one force value and one slip value are captured. Using the value pairs, a freewheeling slip value is determined, for example by way of an extrapolation, said slip value representing the slip without a tractive or decelerating force. The freewheeling slip value is used in the step 402 of ascertainment in order to ascertain the load.

[0082] In the step 404 of capture, it is possible to capture the value pairs when the respective force value and, in an alternative or complementary manner, the respective slip value meet certain criteria. By way of example, capturing can be interrupted during cornering of the road train in order to obtain usable slip values. Likewise, it is possible to predetermine a minimum difference in the slip value and/or in the force value between the value pairs. Here, it is also possible to predetermine that the slip value and/or the force value increases or falls monotonically between the considered value pairs. In particular, the second value pair can be captured when the slip value and/or the force value stops increasing or falling monotonically.

[0083] In one exemplary embodiment, the method 400 has a step 406 of use following the step 402 of ascertainment. In the step 406 of use, the ascertained load on the individual axle is used to distribute a braking force of the road train. Hence, it is possible to brake a strongly loaded axle more strongly than a weakly loaded axle, for example, without the wheels of the axles blocking differently during a braking process. Thus, the road train can be braked with the shortest possible braking distance.

[0084] The list of reference signs is as follows: [0085] 100 Road train [0086] 102 Estimation module [0087] 104 Tractor, truck [0088] 106 Towed vehicle, trailer [0089] 108 Drive axle [0090] 110 Front axle [0091] 112 Trailer front axle [0092] 114 Trailer rear axle [0093] 116 Rotational speed of the drive axle [0094] 118 Tractive force [0095] 120 Rotational speed of the front axle [0096] 122 Load, normal force [0097] 124 Front axle load [0098] 126 Slip value [0099] 128 Force value [0100] 130 Controller [0101] 200 Semitrailer train [0102] 202 Semitrailer tractor [0103] 204 Semitrailer [0104] 206 Center of mass position [0105] 300 Estimation system [0106] 302 Ascertainment device [0107] 304 Learning-phase coordinator [0108] 306 Output filter [0109] 308 Load change identification module [0110] 310 Load change information item [0111] 312 Wheel diameter compensation module [0112] 314 Tire change information item [0113] 316 Overall mass estimator module [0114] 318 Quality information item [0115] 320 Overall mass information item [0116] 322 Control information item [0117] 324 Wheel speed filter module [0118] 326 Wheel speed information item [0119] 328 Vehicle model [0120] 330 Parameter [0121] 332 Estimated parameter [0122] 334 Slip stiffness information item [0123] 336 Storage [0124] 338 Load information item [0125] 340 Load coordination module [0126] 400 Estimation method [0127] 402 Step of ascertainment [0128] 404 Step of capture [0129] 406 Step of use