A review of the combined lateral and longitudinal force generation of tyres on deformable surfaces

Abstract Previous attempts at modelling the combined lateral and longitudinal force characteristics of a tyre on a deformable surface are reviewed. A modified model is proposed which provides an improved qualitative description of behaviour in the contact region. Although slightly more complex than previous models, the computational load is sufficiently small that the tyre model can conveniently be incorporated in off-road vehicle handling models.