Editorial Type:
Article Category: Research Article
 | 
Online Publication Date: 01 Sept 2010

A Modified Dugoff Tire Model for Combined-slip Forces

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Page Range: 228 – 244
DOI: 10.2346/1.3481696
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Abstract

Easy-to-use tire models for vehicle dynamics have been persistently studied for such applications as control design and model-based on-line estimation. This paper proposes a modified combined-slip tire model based on Dugoff tire. The proposed model takes emphasis on less time consumption for calculation and uses a minimum set of parameters to express tire forces. Modification of Dugoff tire model is made on two aspects: one is taking different tire/road friction coefficients for different magnitudes of slip and the other is employing the concept of friction ellipse. The proposed model is evaluated by comparison with the LuGre tire model. Although there are some discrepancies between the two models, the proposed combined-slip model is generally acceptable due to its simplicity and easiness to use. Extracting parameters from the coefficients of a Magic Formula tire model based on measured tire data, the proposed model is further evaluated by conducting a double lane change maneuver, and simulation results show that the trajectory using the proposed tire model is closer to that using the Magic Formula tire model than Dugoff tire model.

Keywords: tire model; combined-slip; Dugoff tire; Magic Formula tire
Copyright: The Tire Society
FIG. 1
FIG. 1

Comparison of pure lateral forces among different tire models.

FIG. 2
FIG. 2

MF tire model (Fz=2000 N).

FIG. 3
FIG. 3

Comparison of longitudinal forces between MF- and Dugoff tire models.

FIG. 4
FIG. 4

Comparison between Modified Dugoff tire and MF tire (Fz)=2000 N).

FIG. 5
FIG. 5

Lateral forces of Modified Dugoff tire with different increase factors and MF tire (Fz)=2000 N).

FIG. 6
FIG. 6

Comparison between Modified Dugoff tire and MF tire (Fz)=2000 N).

FIG. 7
FIG. 7

Comparison between Modified Dugoff tire and MF tire.

FIG. 8
FIG. 8

Top view of tire during combined braking and cornering showing velocity diagrams.

FIG. 9
FIG. 9

Tire forces for several constant values of the slip angle (Fz)=2000 N).

FIG. 10
FIG. 10

Tire forces for several constant values of the longitudinal slip (Fz)=2000 N).

FIG. 11
FIG. 11

Lateral forces using different tire models.

FIG. 12
FIG. 12

Single-point preview driver model.

FIG. 13
FIG. 13

Double lane change simulation results.

FIG. 14
FIG. 14

Trajectory and tire slip angles of a double lane change simulation.

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