1. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
A schematic diagram of the tire motion kinematics and contact patch geometry

2. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
A schematic of stress distribution across the contact patch

3. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
Steady-state bristle deformation under various slip values

4. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
Comparison results of the longitudinal force Fx of the hybrid physical-dynamic model with the Pacejka “magic” formula under various normal loads

5. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
A vehicle trajectory of a pendulum-turn maneuver from racing driving experiments

6. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
Testing data at four tires. (a) Longitudinal friction forces Fx. (b) Lateral friction forces Fy. (c) Normal loads Fz. (d) Tire slip ratios λ. (e) Tire slip angles α and vehicle side-slip angle β. (f) Vehicle pitch and roll angles.

7. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
Racing car driver input data. (a) Steering angle δ and yaw rate ωψ. (b) Normalized throttle/braking actuation.

8. From: A Hybrid Physical-Dynamic Tire/Road Friction Model
Date of download: 11/4/2017
Copyright © ASME. All rights reserved.
From: A Hybrid Physical-Dynamic Tire/Road Friction Model
J. Dyn. Sys., Meas., Control. 2012;135(1): doi: /
Figure Legend:
Comparison of simulation results and testing data. (a) Longitudinal/lateral velocity vGx/vGy. (b) Longitudinal/lateral acceleration aGx/aGy. (c) Yaw rate ωψ. (d) Vehicle side-slip angle β.