SUMMARY Theoretically a unified tire model with non-isotropy of friction is presented as a foundation for studying the key features of a reasonable expression of tire shear force and alignment torque under combined slip conditions. The effects of longitudinal force and pressure distributionon tire cornering stiffness are analyzed. A unified semi-empirical tire model with high accuracy and convenience in vehicle dynamics simulation is proposed. Some experimental validations are shown.
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Guo et al. (1996) studied this question.
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