The slip and drift model of a wheel with tyre compared to some other attempts in this field

Abstract The Slip and Drift Model (SDM) of a wheel with tyre, introduced in 1969, has brought the formally correct fundamental solution to the two-dimensional problem of a wheel motion: longitudinal force-lateral force-slip-drift (slip angle) relationship. It has taken into account the tyre elasticity and the specifics of soil behaviour. In some recent attempts to compile a modified model, the SDM was either ignored or presented inadequately. The analysis of two such attempts from 1981 and 1987 has revealed that their kinematic formulae reproduce the basic formulae of the SDM and that their static equilibrium formulae, as far as they are based on the resolution of the soil shear stress into x , y components, are not satisfactory as a matter of principle.