Tire Shear Force Generation During Combined Steering and Braking Maneuvers

A historical overview of theory and experiment pertaining to tire shear force generation during combined slip is presented followed by a review of more recent empirical findings. The requirements for modeling the tire in combined maneuvers are summarized prior to presenting, in detail, a semi-empirical model of the tire developed to fulfill these requirements. The ability of the developed model to fit the shear force characteristics exhibited by belted, radial-ply tires and bias-ply tires is examined and demonstrated.