The heavy-duty vehicles have large transportation capacity. The gross mass and the center of gravity position of the heavy-duty vehicles affecting the driving safety and operational stability vary with the cargo mass and the driving condition. The gross mass and the center of gravity position of the vehicles are usually measured on the fixed test platform, and the vehicles are stationary or pass the platform slowly in the measurement process. Most dynamic weighing system could not measure the center of gravity position of the vehicle. The on-board mass and center of gravity of motor vehicles measurement system mainly based on the tire pressure information could measure the gross mass and the center of gravity position accurately in the driving process. The measurement errors of the sensors are effectively decreased by filtering the collected data of the sensors. The relationship between the tire pressure and the radial load of the tire is built when the vehicle is stationary. The dynamic mapping relationship between multiple signals and the tire load is established to eliminate the interferences affecting the accuracy and stability of the measurement system during the transportation, and could measure the gross mass and the horizontal center of gravity position of the vehicles accurately. The on-board measurement system could reduce the test times on the fixed test platform effectively. And the measurement results could be used to identify the overload and the offset load, and guide driver to load the cargoes reasonably and drive safely. The simulations are conducted to verify the effectiveness of the measurement system. The simulation results show that the maximum measurement error of the tire pressure is 8 kPa and the average measurement error of the gross vehicle mass is 2.56% which meets ASTM-E1318 standard about the dynamic weighing system. The gross mass and the center of gravity position of the heavy-duty vehicles could be also used as the inputs of the active safety system, which can improve the adaptability of the active safety system to the complex driving conditions.