{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:43:32Z","timestamp":1760240612294,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2019,8,11]],"date-time":"2019-08-11T00:00:00Z","timestamp":1565481600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003359","name":"Generalitat Valenciana","doi-asserted-by":"publisher","award":["APOSTD\/2017\/055"],"award-info":[{"award-number":["APOSTD\/2017\/055"]}],"id":[{"id":"10.13039\/501100003359","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ministerio de Economia","award":["DPI2016-81002-R"],"award-info":[{"award-number":["DPI2016-81002-R"]}]},{"DOI":"10.13039\/501100004895","name":"European Social Fund","doi-asserted-by":"publisher","award":["FSE 2014-2020"],"award-info":[{"award-number":["FSE 2014-2020"]}],"id":[{"id":"10.13039\/501100004895","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Modelling the dynamic behaviour of heavy vehicles, such as buses or trucks, can be very useful for driving simulation and training, autonomous driving, crash analysis, etc. However, dynamic modelling of a vehicle is a difficult task because there are many subsystems and signals that affect its behaviour. In addition, it might be hard to combine data because available signals come at different rates, or even some samples might be missed due to disturbances or communication issues. In this paper, we propose a non-invasive data acquisition hardware\/software setup to carry out several experiments with an urban bus, in order to collect data from one of the internal communication networks and other embedded systems. Subsequently, non-conventional sampling data fusion using a Kalman filter has been implemented to fuse data gathered from different sources, connected through a wireless network (the vehicle\u2019s internal CAN bus messages, IMU, GPS, and other sensors placed in pedals). Our results show that the proposed combination of experimental data gathering and multi-rate filtering algorithm allows useful signal estimation for vehicle identification and modelling, even when data samples are missing.<\/jats:p>","DOI":"10.3390\/s19163515","type":"journal-article","created":{"date-parts":[[2019,8,12]],"date-time":"2019-08-12T06:38:02Z","timestamp":1565591882000},"page":"3515","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Drive Force and Longitudinal Dynamics Estimation in Heavy-Duty Vehicles"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5009-9262","authenticated-orcid":false,"given":"Vicent","family":"Girb\u00e9s","sequence":"first","affiliation":[{"name":"Instituto de Dise\u00f1o y Fabricaci\u00f3n (IDF), Universitat Polit\u00e8cnica de Val\u00e8ncia, Camino de Vera s\/n, 46022 Valencia, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6777-3425","authenticated-orcid":false,"given":"Daniel","family":"Hern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica e Inform\u00e1tica Industrial (AI2), Universitat Polit\u00e8cnica de Val\u00e8ncia, Camino de Vera s\/n, 46022 Valencia, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0979-4428","authenticated-orcid":false,"given":"Leopoldo","family":"Armesto","sequence":"additional","affiliation":[{"name":"Instituto de Dise\u00f1o y Fabricaci\u00f3n (IDF), Universitat Polit\u00e8cnica de Val\u00e8ncia, Camino de Vera s\/n, 46022 Valencia, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1815-1360","authenticated-orcid":false,"given":"Juan F.","family":"Dols","sequence":"additional","affiliation":[{"name":"Instituto de Dise\u00f1o y Fabricaci\u00f3n (IDF), Universitat Polit\u00e8cnica de Val\u00e8ncia, Camino de Vera s\/n, 46022 Valencia, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5691-8772","authenticated-orcid":false,"given":"Antonio","family":"Sala","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica e Inform\u00e1tica Industrial (AI2), Universitat Polit\u00e8cnica de Val\u00e8ncia, Camino de Vera s\/n, 46022 Valencia, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,8,11]]},"reference":[{"key":"ref_1","unstructured":"De Winter, J., van Leeuwen, P., and Happee, R. 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