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Accurately estimating the state of charge (SOC), state of energy (SOE), and state of health (SOH) online is a critical and urgent concern in the management of lithium-ion batteries for electric vehicle applications, particularly in terms of safety and reliability. This paper develops a hybrid neural network, abbreviated as CNN-SAM-LSTM model, which combines a convolutional neural network, self-attention mechanism, and long-short term memory neural network to jointly estimate the state parameters of lithium-ion batteries, including SOC, SOE, and SOH. Additionally, a joint loss function considering homoscedastic uncertainty is developed to optimize weight adjustments for the training losses associated with the three state parameters. Experimental data collected under UDDS, BBDST and CC discharge conditions are employed to showcase the effectiveness of the proposed CNN-SAM-LSTM model. The results demonstrate that the proposed model is capable of simultaneously and accurately estimating SOC, SOE, and SOH for lithium-ion batteries under different dynamical operating conditions. Moreover, when applied to randomly segmented data, the proposed model exhibits robustness, effectively handling deviations from random discharge segments. • A CNN-SAM-LSTM hybrid neural network is developed to estimate SOC, SOE and SOH. • The loss function of the hybrid network considers homoscedastic uncertainty. • The proposed method achieves high accuracy under dynamic operating conditions. • The proposed method is strongly robust against random discharge segments. [ABSTRACT FROM AUTHOR]