Road slope estimation with standard truck sensors

Several recent studies have examined the possibilities for more intelligent control of the vehicle by using knowledge of road slope data. As three-dimensional navigational road maps are not commercially available today the road slope has to be measured. This report focuses on the ability to estimate the road slope in a standard Scania truck, without any additional sensors. Information from GPS receiver, pressure sensor and torque sensor were used. By modelling the trucks movement and applying an extended Kalman filter an estimation of the road slope was achieved. The three sensors were evaluated to find specific characteristics. Each of them were tested through a stability and an absolute accuracy perspective. The results showed different sensor characteristics with warring stability and accuracy. Additionally a short assessment of the sampling distance was carried out. 4