Chapter 5

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Tyre Model
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Introduction

The tires are the primary element to carry the vehicle load and guide it along its track. The correct calculation of the contact forces between road and tire are therefore crucial in any simulation of vehicle behavior. The forces generated at tire contact patch are considered as important factor for the dynamic behavior of a road vehicle. Accuracy of tire models are necessary components of complete vehicle models aimed at analyzing or simulating vehicle motion in real driving conditions. There are many previous models that describe the tire forces generated by the tires during braking, accelerating and cornering conditions.
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In vehicle dynamics, an accurate description of the tire

The primary forces during lateral maneuvering, acceleration, and braking are generated by tires as a function of the driver input. The longitudinal and lateral forces generated by a tire are a function of the slip angle and longitudinal slip of the tire relative to the road.

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Longitudinal Force (Fx)

Lateral Force

The longitudinal slip of the tire is defined as a difference between the tire tangential speed and the speed of the axle relative to the road, which is represented by the following equation:

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where s is the longitudinal slip, R is the radius of the wheel, is the angular velocity and u is the speed of the axle. The value of the longitudinal slip is limited such that |s|1. For braking, axle speed is used in the denominator so that longitudinal slip is 1 when is zero. Slip has the opposite sign when tracking force is generated. When 5/28/12 tire develops a sideslip velocity the

Magic Formula Tire Model

Magic Formula Tire Model produces Longitudinal and lateral forces, aligning moment

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During a cornering maneuver the tire contact patch slips laterally while rolling such that its motion is no longer in the direction of the wheel plane. The angle between its direction of motion and the wheel plane is referred to as the slip angle, . This lateral slip generates a lateral force, Fy at the tire ground interface. Because the force acts slightly behind the center of the wheel, it 5/28/12 produces an aligning moment, Mz

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Parameter for Magic Formula

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Calspan Tire Model

The longitudinal and lateral forces are results of the inputs of the slip angle, longitudinal slip and normal forces. The normal force considered as a given quantity that results from the 5/28/12 normal deflection of the tire.

The functions can be obtained from measurements for given speed of travel and road and environment conditions. The previous theoretical developments lead to a complex, highly non-linear composite force as a function of composite slip. It is convenient to define a saturation function, f(), to obtain a composite force with any normal load and coefficient of friction values. 5/28/12

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Parameter for Calspan Tire Model

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Dugoff Tire Model

Dugoff's model provides for calculation of forces under combined lateral and longitudinal tire force generation. It assumes a uniform vertical pressure distribution on the tire contact patch. This is a simplification compared to more realistic parabolic pressure distribution assumed in Pacejka and Sharp. 5/28/12

Let x be the longitudinal slip ratio of the tire under consideration and be the side slip angle. Let the cornering stiffness of the tire be given by C, and the longitudinal tire stiffness by C. Then the longitudinal tyre force is given by:

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