Systems and methods for removing accumulated soot in an aftertreatment system for an engine are disclosed herein. A method includes receiving an indication that an engine of a vehicle has been operating in a low load condition for more than a predefined amount of time; in response, determining an adsorption rate of soot in an exhaust aftertreatment system of the vehicle; determining an adsorption amount of soot based on the adsorption rate for a predefined amount of time; comparing the adsorption amount to a predefine adsorption amount limit; and in response to the adsorption amount exceeding the predefined adsorption amount limit, initiating an exhaust cleaning event to remove at least some of the accumulated soot in the exhaust aftertreatment system.