{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1331518",
  "publishedAt": "2022-11-17T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W40/13",
    "VOLVO TRUCK CORPORATION"
  ],
  "textContent": "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.",
  "title": "COMPUTER IMPLEMENTED METHOD FOR CONTROLLING A VEHICLE"
}