Tire Model

Learned some of this from Trey Weber (Phd Stanford).

Three good articles

• https://www.racecar-engineering.com/tech-explained/how-tyre-rubber-works/
• https://www.racecar-engineering.com/tech-explained/tyre-grip/
• https://www.racecar-engineering.com/tech-explained/tyre-dynamics/

Fundamental parameters / variables

• Slip Angle
• Cornering Stiffness
• Slip Ratio
• Coefficient of Friction

Other concepts

• Friction Circle

Models

• Magic Formula Tire Model
• Brush Tire Model