The effects of tyre dynamics on slip control braking for heavy goods vehicles
Paper i proceeding, 2011

Previous work has shown that traditional ‘lumped tyre’ dynamic models are only accurate for modelling longitudinal motion at frequencies up to 10Hz. A simplified rigid-ring tyre model is developed in this paper to model the tyre of a Heavy Goods Vehicle (HGV). Comparisons to field tests of an anti-lock braking system show that the new tyre model predicts the tyre’s response more accurately than conventional models. Simulations with a slip-control braking controller show that treadband dynamics may induce some instability of the control system at low vehicle speeds. A simulation incorporating the tyre model is used to compare a theoretical smart tyre concept against an existing friction force observer. Simulation results show that such a tyre would require four low noise sensors to outperform the friction force observer.

Tyre dynamics


slip control

in-plane tyre vibration

anti-lock braking system


Leon Henderson

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

David Cebon

The 22nd IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks