Analytical model of pneumatic tyres for vehicle dynamic simulations. Part 2. Comprehensive slips

This is the second paper in a three-part study presenting an analytical approach for determining tyre dynamic properties. In this study analytical formulations are derived for the tyre dynamic properties as functions of the slip ratio, slip angle, camber angle and other tyre dynamic parameters. These formulae can be used for the general vehicle simulations in braking/traction and steering manoeuvres with a varying camber angle on regular or irregular terrains. In this paper the lateral force and self-aligning torque due to both slip and camber angles are first studied. The longitudinal, lateral forces and self-aligning torque during braking/traction and steering without any camber angle or with a varying camber angle are also analysed. Also, both the friction ellipse concept and the friction circle concept are investigated.