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This paper examines the online estimation of onroad vehicles' mass. It classifies existing estimators based on the dynamics they use for estimation and whether they are event-seeking or averaging. It then proposes an algorithm comparable to this literature in accuracy and speed, but unique in its minimal instrumentation needs and ability to provide conservative mass error estimates, in the 3σ sense. The algorithm builds on the simple idea, inspired by perturbation theory, that inertial dynamicsdoi:10.1109/acc.2008.4586760 dblp:conf/amcc/FathyKS08 fatcat:zp7a6cvpo5hahg2gqnkfjn2gka