Jihua Laboratory;
Foshan 528200;
Guangdong;
China;
State Key Laboratory of Automotive Simulation and Control;
Jilin University;
Changchun 130022;
China;
Tsinghua Intelligent Vehicle Design and Safety Research Institute;
Tsinghua University;
Beijing 100084;
China;
Department of Mechanical and Mechatronics Engineering;
University of Waterloo;
Waterloo;
Canada.;
Estimation theory; Adaptive treble extend Kalman filter; Vehicle dynamics; Multi-axle truck; Vertical tire force estimation;