{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T23:14:05Z","timestamp":1769210045550,"version":"3.49.0"},"reference-count":28,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2022,12,19]],"date-time":"2022-12-19T00:00:00Z","timestamp":1671408000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52025121"],"award-info":[{"award-number":["52025121"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51975118"],"award-info":[{"award-number":["51975118"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The accurate estimation of the mass and center of gravity (CG) position is key to vehicle dynamics modeling. The perturbation of key parameters in vehicle dynamics models can result in a reduction of accurate vehicle control and may even cause serious traffic accidents. A dual robust embedded cubature Kalman filter (RECKF) algorithm, which takes into account unknown measurement noise, is proposed for the joint estimation of mass and CG position. First, the mass parameters are identified based on directly obtained longitudinal forces in the distributed drive electric vehicle tires using the whole vehicle longitudinal dynamics model and the RECKF. Then, the CG is estimated with the RECKF using the mass estimation results and the vertical vehicle model. Finally, different virtual tests show that, compared with the cubature Kalman algorithm, the RECKF reduces the root mean square error of mass and CG by at least 7.4%, and 2.9%, respectively.<\/jats:p>","DOI":"10.3390\/s222410018","type":"journal-article","created":{"date-parts":[[2022,12,20]],"date-time":"2022-12-20T01:36:02Z","timestamp":1671500162000},"page":"10018","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Joint Estimation of Mass and Center of Gravity Position for Distributed Drive Electric Vehicles Using Dual Robust Embedded Cubature Kalman Filter"],"prefix":"10.3390","volume":"22","author":[{"given":"Zhiguo","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing 211189, China"},{"name":"CATARC (Tianjin) Automotive Engineering Research Institute Co., Ltd., Tianjin 300300, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guodong","family":"Yin","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing 211189, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhixin","family":"Wu","sequence":"additional","affiliation":[{"name":"CATARC (Tianjin) Automotive Engineering Research Institute Co., Ltd., Tianjin 300300, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s10033-021-00675-z","article-title":"Tire Road Friction Coefficient Estimation: Review and Research Perspectives","volume":"35","author":"Wang","year":"2022","journal-title":"Chin. 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