Title: An analytical tyre model for vehicle simulation in normal driving conditions

Authors: Taehyun Shim, Donald Margolis

Addresses: Department of Mechanical Engineering, University of Michigan-Dearborn, Dearborn, MI 48128-1491, USA. ' Department of Mechanical and Aeronautical Engineering, University of California, Davis, One Shield Avenue, Davis, CA 95616, USA

Abstract: In the simulation of the dynamic response of a vehicle, the accuracy of the predictions strongly depends on the tyre properties. Even though tyre forces generated by a real tyre are nonlinear, there is a linear region where the slip and slip angle are low. Most normal driving is done in this region. This paper will present a new analytical tyre model capable of simulating pure cornering, pure braking, and combined braking/cornering in this region. The dynamic properties of the tyre are analytically derived as functions of the slip, slip angle, normal force, and road friction coefficient. For the combined braking/cornering condition, the unique function which effectively determines the trade-off between longitudinal force and cornering force is derived. The proposed tyre model can be analytically linearised about a given operating point; thus, it can be very useful for designing controllers and observers for use in vehicle dynamic control systems.

Keywords: vehicle dynamics; tyre dynamics; vehicle simulation; tyre modelling; braking; cornering.

DOI: 10.1504/IJVD.2004.004950

International Journal of Vehicle Design, 2004 Vol.35 No.3, pp.224 - 240

Published online: 26 Jul 2004 *

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