Transient Dynamic Response and Delay Behavior of Tire on M-Step Road

In this paper, the transient response and delay behavior of tire force and motion parameters on μ-step road are analyzed. The expression of the effective friction coefficient of road is established according to the deformation of the tread during the process of crossing the road boundary. The mathematical model describing the transient characteristics of tire is established by combining the single contact point model and the tire dynamic equation. Then, the transient responses of tire on μ-step road at different sliding conditions are obtained by model calculation, the delay behavior of the tire and the effect of the time rate of change of the slip angle on the transient tire force are discussed. In addition, the possible total sliding phenomenon of tire on low-adhesion road is analyzed and the critical condition is obtained by analyzing the tire force relationship on the front and rear roads. The conclusions provide theoretical support for vehicle dynamics analysis and control under corresponding driving conditions.