In this contribution, a simple rubber friction law is presented. The model can be used for tire and vehicle dynamics calculations [19 ]. The friction law is tested by comparing numerical results to the full rubber friction theory [6 ] and to experimental data.
A two-dimensional tire model is introduced. The model combines the rubber friction law with a simple mass-spring description of the tire body. The tire model is very flexible and can be applied to different maneuvers. It can be used for calculating μ-slip curves, the self-aligning torque, braking and cornering, or combined motion (e.g., braking during cornering). The theory predictions are compared to measured data from indoor tire testing on sandpaper substrate. Simulations of antilock braking systems (ABS) using two different control algorithms are also presented.