A semi-empirical dynamic tire model for combined-slip forces

Abstract

This article presents a semi-empirical combined-slip tire model including transient behavior. It is assumed that the transient behavior is a result from the dynamic deformation of the tire carcass and that the interaction between the lateral and longitudinal slip, and forces can be explained by the deformation of the rubber treads. The deformation of the tire carcass makes the tread slip deviate from the wheel-rim motion in a way that may be described by differential equations. A method based on brush-model tire mechanics is used to construct the combined-slip forces as nonlinear scalings of corresponding pure-slip forces.

Keywords:

• Tire model
• Transients
• Combined slip
• Forces
• Vehicle dynamics
• Camber

Acknowledgements

This work was funded by Haldex Brake Products AB and the Swedish Research Council (contract 2001-3020). The authors are thankful to Professor Björn Wittenmark for encouragement and support.

Notes

^†There are several conventions on how to define tire slips. In this article, the slips are defined such that signs are consistent in the longitudinal and lateral directions.