A new method of dealing with the force-producing mechanism at the tyre—road interface is presented. The tyre model consists of a representation of the tyre elasticity and the relations between the interface forces and the contact patch displacement. These relations are described in terms of the ‘tyre limit surface’. The model appears to be capable of reproducing the tyre behaviour under both free-rolling and fully locked wheel conditions. A satisfactory agreement has been obtained between the available experimental data on the force versus slip parameters and the predictions of the present model. Applications to two problems of vehicle dynamics, oversteer versus understeer behaviour and motion with locked rear wheels, are presented.
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