Method and device for estimating mass during starting of vehicle and storage medium

The invention relates to a vehicle starting mass estimation method which comprises the following steps: S1, detecting whether a vehicle is in an acceleration stage starting from a low speed or a zero speed or not, if so, entering S2, and otherwise, ending; s2, detecting whether the yaw angle r is smaller than a fixed value and no braking request exists, if so, entering S3, and otherwise, ending; s3, activating a quality estimation algorithm; s4, obtaining a real-time estimation result; s5, calculating a standard deviation in real time according to the last sampling point of the time sequence; and S6, if the standard deviation is smaller than a fixed value, determining that the algorithm converges at the moment, and taking a mean value at the moment as estimated quality. According to the method, by introducing double forgetting factors, the convergence performance is improved, and a variable boundary estimation optimization mode is used, so that obvious unreasonable vehicle weight sudden change caused by input