Commercial vehicle mass and gradient joint estimation method considering vehicle mass change

The invention belongs to the field of intelligent transportation, and particularly relates to a commercial vehicle mass and slope joint estimation method considering vehicle mass change, which comprises the following steps of: 1, acquiring vehicle state data and vehicle inherent parameters, and calculating to obtain an acceleration a and a transmission ratio ig of a transmission at the kth moment; 2, longitudinal dynamics of the commercial vehicle is analyzed, and a longitudinal dynamics mathematical model is established; 3, establishing an original automobile quality model and a road slope model; 4, constructing a double-forgetting-factor least square mass estimation model and a slope estimation model based on the original automobile mass model and the road slope model; 5, specifically analyzing problems related to variable quality estimation by an original algorithm; and step 6, designing a double-forgetting factor least square method improved algorithm, and building an MATLAB/Simulink improved algorithm mo