A unified non-steady non-linear tyre model under complex wheel motion inputs including extreme operating conditions

This study is to describe the transient force and moment characteristics of tyres involving large lateral slip, longitudinal slip, turn-slip and camber, and to develop a dynamic tyre model applicable to vehicle dynamic simulation and control for extreme operating conditions. Based on the steady state USES tire model [4,6], the effective slip ratios and quasi-steady concept are introduced to represent the non-linear dynamic tire properties in large slip cases. A high-order non-steady tyre model is presented. Special attention has been paid on the relationship between turn-slip and camber. Various kinds of experiments are performed to verify the tire model.