For driver convenience, different types of transmission are being developed, such as AT(Automatic Transmission), AMT(Automated Manual Transmission), CVT(Continuously Variable Transmission) and DCT(Dual Clutch Transmission). To improve ride comfort and durability of the transmission, control system is important during launching and shifting process. For accurate control, vehicle mass and road gradient should be known. In this study, heavy duty vehicle’s mass and road gradient estimation method is developed. The method uses only signals from CAN(Controller Area Network) without applying extra sensors. Vehicle mass and gradient is estimated by LMS(Least Mean Square) method based on longitudinal vehicle dynamic model. To verify the estimation logic, test was conducted using a chassis dynamometer. The estimation results after test and test condition is compared. The error rate of vehicle mass estimation was 5 percent and gradient estimation result had 2 percent error.