A four-tire quasi-steady state vehicle model is set forth utilizing the well-known friction circle model for each tire, and incorporating vehicle and roadway geometry, weight shift, and brake force distribution. The model equations are nondimensionalized for general applicability. A normalized chart defining limits of braking and cornering for a particular automobile is presented.
Combined Braking and Cornering Limits as Related to Automobile Tire Marks
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Smith, G. C., Bready, J. E., and Smith, C. C. (September 1, 1999). "Combined Braking and Cornering Limits as Related to Automobile Tire Marks." ASME. J. Dyn. Sys., Meas., Control. September 1999; 121(3): 504–507. https://doi.org/10.1115/1.2802502
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