{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T08:10:13Z","timestamp":1768551013118,"version":"3.49.0"},"reference-count":24,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T00:00:00Z","timestamp":1768435200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JETA"],"abstract":"<jats:p>This paper presents a practical and cost-effective method for in-motion estimation of a vehicle\u2019s CoG position in all three directions by measuring accelerations during two types of maneuvers: braking (longitudinal and vertical CoG estimation) and cornering (lateral and vertical CoG estimation). The proposed method\u2019s main advantage is that it does not require knowledge of vehicle characteristics, such as mass distribution, suspension geometry, or inertia parameters. It relies solely on the known distances between the sensors and their positions relative to a defined reference point on the vehicle. To validate the developed method, experimental tests were conducted on a prototype vehicle, varying the load conditions for the proposed driving scenarios. The CoG position obtained from dynamic maneuvers was compared with reference values derived from static measurements. The results showed that the proposed method could estimate the CoG position with an average error of 3% in the longitudinal direction, a maximum error of 12% in the lateral direction, and a maximum error of 14% in the vertical direction.<\/jats:p>","DOI":"10.3390\/jeta4010004","type":"journal-article","created":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T12:31:41Z","timestamp":1768480301000},"page":"4","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["An Evaluation Method to Estimate a Vehicle\u2019s Center of Gravity During Motion Based on Acceleration Relationships"],"prefix":"10.3390","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9035-0271","authenticated-orcid":false,"given":"Francisco","family":"Castro","sequence":"first","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"},{"name":"FEUP\u2014Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3679-5795","authenticated-orcid":false,"given":"Francisco Queir\u00f3s de","family":"Melo","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-8666-733X","authenticated-orcid":false,"given":"David","family":"Faria","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9061-7343","authenticated-orcid":false,"given":"Job","family":"Silva","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0964-3838","authenticated-orcid":false,"given":"Jo\u00e3o","family":"Nunes","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4520-3891","authenticated-orcid":false,"given":"Pedro Jos\u00e9","family":"Sousa","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"},{"name":"FEUP\u2014Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6347-9608","authenticated-orcid":false,"given":"M\u00e1rio Augusto Pires","family":"Vaz","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"},{"name":"FEUP\u2014Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1127-2525","authenticated-orcid":false,"given":"Pedro M. G. P.","family":"Moreira","sequence":"additional","affiliation":[{"name":"INEGI\u2014Institute of Science and Innovation in Mechanical and Industrial Engineering, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2026,1,15]]},"reference":[{"key":"ref_1","first-page":"5","article-title":"Estimation of Heavy Vehicle Rollover Potential Using Reliability Principles","volume":"32","author":"Echaveguren","year":"2017","journal-title":"Rev. Ing. Construcci\u00f3n"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1572","DOI":"10.1080\/00423114.2017.1319964","article-title":"Advanced vehicle dynamics of heavy trucks with the perspective of road safety","volume":"55","author":"Trigell","year":"2017","journal-title":"Veh. Syst. Dyn."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Sokolovskij, E., and \u017duraulis, V. (2024). Advances in Vehicle Dynamics and Road Safety: Technologies, Simulations, and Applications. Appl. 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