Hou, Y., Sun, Y., and Guo, K., "An Empirical Tire Model for Non-Steady State Side Slip Properties," SAE Technical Paper 2003-01-3414, 2003, doi:10.4271/2003-01-3414.
In this paper, on the basis of the extant semi-empirical tire models of non-steady state with pure yaw angle input and pure side slip angle input, two empirical tire models of non-steady state side slip properties are established, one is pure yaw angle input, the other is pure side slip angle input, and both of them have been verified by test data. These two models can be used to approximately express tire force within low frequency. They have their own advantages, and make up for the disadvantages of existing tire models. They provide more choice for the simulation of vehicle dynamics.