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The performances of some vehicle control systems are influenced by changes in the weight of the vehicle. In these systems, it is important to be able to estimate the weight without the need for special sensors. When we use physical models to do this, we have to provide estimates for two or more unknown parameters. In addition, since such a method is influenced by disturbances in the measured signals, it is difficult to maintain an acceptable level of accuracy. So, after analyzing the physical phenomena, we developed a new method that eliminates the influence of the disturbances from the measured signals and constructed an estimation system that has a minimum number of unknown parameters that was capable of providing a more accurate estimate of a vehicle weight. This method was applied to the braking force control of an automatic transmission and its efficacy was verified.