Fundamentals of Tire Behavior
Chapter 2 describes the steady-state behavior of the tire–road contact, with distinction of longitudinal slip behavior, cornering performance, and situations of combined slip. After a description of the tire input and output quantities, a discussion is given on the free rolling tire with emphasis on the effective rolling radius and the rubber deformation and local slip behavior in the tire–road contact area. This discussion is directly related to the tire rolling resistance, being discussed next. Different tire models are treated, specifically the empirical Magic Formula description (Pacejka model) for pure and combined slip conditions, and the physical brush model as well as the brush-string model.