This paper presents simulation and experimental results that outline the interaction between a tire's torsional dynamic properties and antilock braking system (ABS) during a hard braking event. Previous work has shown the importance of the coupled dynamics of the tire's belt, sidewall, and wheel/hub assembly on braking performance for a wheel acceleration-based ABS controller. This work presents findings based on a proprietary slip-based ABS controller. A comprehensive system model including tire torsional dynamics, dynamics of the tread–ground friction (LuGre friction model), and dominant brake system hydraulic dynamics was developed for simulation studies on this slip-based controller. Results from key sensitivity studies of tire torsional parameters are presented along with experimental results obtained on a quarter car braking test rig. In this work, it was found that within a reasonable tire design space (with respect to tire torsional properties), the ABS algorithm tested was extremely robust to changing these parameters. The main conclusion of this result is that when a consumer replaces his or her tires with different (than original equipment) tires, there should be little effect on braking performance.

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