A semi-empirical, three-dimensional, tyre model for rolling over arbitrary road unevennesses

In this paper a three-dimensional effective road surface description is introduced and a new three-dimensional enveloping tyre model is proposed. This new enveloping tyre model is used in combination with the well-known rigid ring dynamic tyre model to simulate both tyre in-plane and out-of-plane forces and moments. Simulation results of the tyre rolling over several oblique cleats have been compared with measurements for both the quasi-static rolling tyre and the tyre impacting cleats at high velocities. It is shown by comparing simulation results with measurements for both cases, that the proposed model works rather well.