A hybrid physical-dynamic tire/road friction model

Jingliang Li, Yizhai Zhang, Jingang Yi

Research output: Contribution to journalArticlepeer-review

42 Scopus citations


We present a hybrid physical-dynamic tire/road friction model for applications of vehicle motion simulation and control. We extend the LuGre dynamic friction model by considering the physical model-based adhesion/sliding partition of the tire/road contact patch. Comparison and model parameters relationship are presented between the physical and the LuGre dynamic friction models. We show that the LuGre dynamic friction model predicts the nonlinear and normal load-dependent rubber deformation and stress distributions on the contact patch. We also present the physical interpretation of the LuGre model parameters and their relationship with the physical model parameters. The analysis of the new hybrid model's properties resolves unrealistic nonzero bristle deformation and stress at the trailing edge of the contact patch that is predicted by the existing LuGre tire/road friction models. We further demonstrate the use of the hybrid model to simulate and study an aggressive pendulum-turn vehicle maneuver. The CARSIM simulation results by using the new hybrid friction model show high agreements with experiments that are performed by a professional racing car driver.

Original languageEnglish (US)
Article number011007
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number1
StatePublished - 2013

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


  • aggressive maneuvers
  • friction model
  • tire/road friction
  • vehicle dynamics and control


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