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Tire and Vehicle Dynamics, 3rd Edition

Book Description

The definitive book on tire mechanics by the acknowledged world expert

  • Covers everything you need to know about pneumatic tires and their impact on vehicle performance, including mathematic modeling and its practical application
  • Written by the acknowledged world authority on the topic and the name behind the most widely used model, Pacejka’s ‘Magic Formula’
  • Updated with the latest information on new and evolving tire models to ensure you can select the right model for your needs, apply it appropriately and understand its limitations

In this well-known resource, leading tire model expert Hans Pacejka explains the relationship between operational variables, vehicle variables and tire modeling, taking you on a journey through the effective modeling of complex tire and vehicle dynamics problems.

Covering the latest developments to Pacejka's own industry-leading model as well as the widely-used models of other pioneers in the field, the book combines theory, guidance, discussion and insight in one comprehensive reference.

While the details of individual tire models are available in technical papers published by SAE, FISITA and other automotive organizations, Tire and Vehicle Dynamics remains the only reliable collection of information on the topic and the standard go-to resource for any engineer or researcher working in the area.



  • New edition of the definitive book on tire mechanics, by the acknowledged world authority on the topic
  • Covers everything an automotive engineer needs to know about pneumatic tires and their impact on vehicle performance, including mathematic modelling and its practical application
  • Most vehicle manufacturers use what is commonly known as Pacejka’s ‘Magic Formula’, the tire model developed and presented in this book

Table of Contents

  1. Cover Image
  2. Contents
  3. Title
  4. Copyright
  5. Exercises
  6. Preface
  7. Chapter 1. Tire Characteristics and Vehicle Handling and Stability
    1. 1.1 Introduction
    2. 1.2 Tire and Axle Characteristics
    3. 1.3 Vehicle Handling and Stability
  8. Chapter 2. Basic Tire Modeling Considerations
    1. 2.1 Introduction
    2. 2.2 Definition of Tire Input Quantities
    3. 2.3 Assessment of Tire Input Motion Components
    4. 2.4 Fundamental Differential Equations for a Rolling and Slipping Body
    5. 2.5 Tire Models (Introductory Discussion)
  9. Chapter 3. Theory of Steady-State Slip Force and Moment Generation
    1. 3.1 Introduction
    2. 3.2 Tire Brush Model
    3. 3.3 The Tread Simulation Model
    4. 3.4 Application: Vehicle Stability at Braking up to Wheel Lock
  10. Chapter 4. Semi-Empirical Tire Models
    1. 4.1 Introduction
    2. 4.2 The Similarity Method
    3. 4.3 The Magic Formula Tire Model
  11. Chapter 5. Non-Steady-State Out-of-Plane String-Based Tire Models
    1. 5.1 Introduction
    2. 5.2 Review of Earlier Research
    3. 5.3 The Stretched String Model
    4. 5.4 Approximations and Other Models
    5. 5.5 Tire Inertia Effects
    6. 5.6 Side Force Response to Time-Varying Load
  12. Chapter 6. Theory of the Wheel Shimmy Phenomenon
    1. 6.1 Introduction
    2. 6.2 The Simple Trailing Wheel System with Yaw Degree of Freedom
    3. 6.3 Systems with Yaw and Lateral Degrees of Freedom
    4. 6.4 Shimmy and Energy Flow
    5. 6.5 Nonlinear Shimmy Oscillations
  13. Chapter 7. Single-Contact-Point Transient Tire Models
    1. 7.1 Introduction
    2. 7.2 Model Development
    3. 7.3 Enhanced Nonlinear Transient Tire Model
  14. Chapter 8. Applications of Transient Tire Models
    1. 8.1 Vehicle Response to Steer Angle Variations
    2. 8.2 Cornering on Undulated Roads
    3. 8.3 Longitudinal Force Response to Tire Nonuniformity, Axle Motions, and Road Unevenness
    4. 8.4 Forced Steering Vibrations
    5. 8.5 ABS Braking on Undulated Road
    6. 8.6 Starting from Standstill
  15. Chapter 9. Short Wavelength Intermediate Frequency Tire Model
    1. 9.1 Introduction
    2. 9.2 The Contact Patch Slip Model
    3. 9.3 Tire Dynamics
    4. 9.4 Dynamic Tire Model Performance
  16. Chapter 10. Dynamic Tire Response to Short Road Unevennesses
    1. 10.1 Model Development
    2. 10.2 Swift on Road Unevennesses (Simulation and Experiment)
  17. Chapter 11. Motorcycle Dynamics
    1. 11.1 Introduction
    2. 11.2 Model Description
    3. 11.3 Linear Equations of Motion
    4. 11.4 Stability Analysis and Step Responses
    5. 11.5 Analysis of Steady-State Cornering
    6. 11.6 The Magic Formula Tire Model
  18. Chapter 12. Tire Steady-State and Dynamic Test Facilities
  19. Chapter 13. Outlines of Three Advanced Dynamic Tire Models
    1. Introduction
    2. 13.1 The RMOD-K Tire Model (Christian Oertel)
    3. 13.2 The FTire Tire Model (Michael Gipser)
    4. 13.3 The MF-Swift Tire Model (Igo Besselink)
  20. References
  21. List of Symbols
    1. Subscripts and superscripts
  22. APPENDIX 1. Sign Conventions for Force and Moment and Wheel Slip
  23. APPENDIX 2. Online Information
  24. APPENDIX 3. MF-Tire/MF-Swift Parameters and Estimation Methods
  25. Index