SYSTEMS AND METHODS FOR REAL-TIME TRACTOR-TRAILER MASS ESTIMATION

System and method for estimating a current mass of a vehicle, comprising: a communications port configured to receive data from a plurality of vehicle systems; a processor configured to determine whether a trailer is attached to the vehicle, to compute an estimate of the static mass of the vehicle and the trailer, to determine whether a gating condition is met based on at least one of an acceleration measurement and a current net force measurement, to compute a computed dynamic mass of the vehicle and the trailer if the gating condition is met; and to determine to use one of (i) the computed dynamic mass, or (ii) the static mass as the current estimated mass of the vehicle and the trailer.