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Dynamic Tire Friction Models for Combined Longitudinal and Lateral Vehicle Motion

Abstract : An extension to the LuGre dynamic friction model from longitudinal to longitudinal/lateral motion is developed in this paper. Application of this model to a tire yields a pair of partial differential equations that model the tire-road contact forces and aligning moment. A comparison of the steady-state behavior of the dynamic model with existing static tire friction models is presented. This comparison allows one to determine realistic values of the parameters for the new dynamic model. By the introduction of a set of mean states we reduce the partial differential equation to a lumped model governed by a set of three ordinary differential equations. Such a lumped form describes the aggregate effect of the friction forces and moments and it can be useful for control design and on-line estimation. A method to incorporate wheel rim rotation is also discussed. The proposed model is evaluated by comparing both its steady-state as well as its dynamic characteristics via a series of numerical simulations. The results of the simulations corroborate steady-state and dynamic/transient tire characteristics found in the literature.
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https://hal.inria.fr/inria-00000921
Contributor : Michel Sorine <>
Submitted on : Saturday, December 10, 2005 - 9:25:51 PM
Last modification on : Monday, April 12, 2021 - 3:44:05 PM
Long-term archiving on: : Friday, April 2, 2010 - 11:27:06 PM

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  • HAL Id : inria-00000921, version 1

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Efstathios Velenis, Panagiotis Tsiotras, Carlos Canudas de Wit, Michel Sorine. Dynamic Tire Friction Models for Combined Longitudinal and Lateral Vehicle Motion. Vehicle System Dynamics, Taylor & Francis, 2005, 43 (1), pp.3--29. ⟨inria-00000921⟩

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