Model equations
Rolling force · Eq. 1.105Fr = μr Fz
Radial tire coefficient · Eq. 1.116μr = 0.0008[5.1 + (550000 + 90Fz)/p + (1100 + 0.0388Fz)v²/p]
Combined grip · Eq. 1.216(Fx / μFz)² + (Fy / μFz)² ≤ 1
Steering · Eqs. 6.5–6.8δinner = atan[L / (R − w/2)]
Ideal tireprint · §1.1.5A ≈ Fz / p
Assumed pressure shape · tire coordinatesp(x,y) = 9Fz/(4LW) [1 − (2x/L)²] [1 − (2y/W)²]
Sensor load · overlap onlyFnormal(t) = ∫patch ∩ sensor p(x,y) dA