Force model comparison on the wheel-ground contact for vehicle dynamics

This paper deals with a quantitative comparison between three force models of wheel-ground contact in vehicle dynamics on seven ground types. The first model is analytical and close to the tire. It uses the pressure distribution on the contact area. The second one is also analytical but uses geometric and dynamics characteristics of the vehicle. The last one is empirical. The aim of this paper is to show the validity of the second model because its parameters are available from cheap serial embarked sensors or classical estimation methods such as observers or Kalman filtering.