Tire and Vehicle Dynamics

Tire and Vehicle Dynamics

3rd Edition - April 9, 2012

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  • Author: Hans Pacejka
  • eBook ISBN: 9780080970172
  • Hardcover ISBN: 9780080970165

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The definitive book on tire mechanics by the acknowledged world expert Covers everything you need to know about pneumatic tires and their impact on vehicle performance, including mathematic modeling and its practical application Written by the acknowledged world authority on the topic and the name behind the most widely used model, Pacejka’s ‘Magic Formula’ Updated with the latest information on new and evolving tire models to ensure you can select the right model for your needs, apply it appropriately and understand its limitations In this well-known resource, leading tire model expert Hans Pacejka explains the relationship between operational variables, vehicle variables and tire modeling, taking you on a journey through the effective modeling of complex tire and vehicle dynamics problems. Covering the latest developments to Pacejka's own industry-leading model as well as the widely-used models of other pioneers in the field, the book combines theory, guidance, discussion and insight in one comprehensive reference. While the details of individual tire models are available in technical papers published by SAE, FISITA and other automotive organizations, Tire and Vehicle Dynamics remains the only reliable collection of information on the topic and the standard go-to resource for any engineer or researcher working in the area.

Key Features

  • New edition of the definitive book on tire mechanics, by the acknowledged world authority on the topic
  • Covers everything an automotive engineer needs to know about pneumatic tires and their impact on vehicle performance, including mathematic modelling and its practical application
  • Most vehicle manufacturers use what is commonly known as Pacejka’s ‘Magic Formula’, the tire model developed and presented in this book


Automotive engineers and analysts using tire models to simulate vehicle dynamics; Tire engineers, chassis engineers, vehicle dynamics engineers; Graduate students and researchers working on tire and vehicle dynamics; Aeronautical engineers working on landing gear.

Table of Contents

  • Exercises


    Chapter 1. Tire Characteristics and Vehicle Handling and Stability

    1.1 Introduction

    1.2 Tire and Axle Characteristics

    1.3 Vehicle Handling and Stability

    Chapter 2. Basic Tire Modeling Considerations

    2.1 Introduction

    2.2 Definition of Tire Input Quantities

    2.3 Assessment of Tire Input Motion Components

    2.4 Fundamental Differential Equations for a Rolling and Slipping Body

    2.5 Tire Models (Introductory Discussion)

    Chapter 3. Theory of Steady-State Slip Force and Moment Generation

    3.1 Introduction

    3.2 Tire Brush Model

    3.3 The Tread Simulation Model

    3.4 Application: Vehicle Stability at Braking up to Wheel Lock

    Chapter 4. Semi-Empirical Tire Models

    4.1 Introduction

    4.2 The Similarity Method

    4.3 The Magic Formula Tire Model

    Chapter 5. Non-Steady-State Out-of-Plane String-Based Tire Models

    5.1 Introduction

    5.2 Review of Earlier Research

    5.3 The Stretched String Model

    5.4 Approximations and Other Models

    5.5 Tire Inertia Effects

    5.6 Side Force Response to Time-Varying Load

    Chapter 6. Theory of the Wheel Shimmy Phenomenon

    6.1 Introduction

    6.2 The Simple Trailing Wheel System with Yaw Degree of Freedom

    6.3 Systems with Yaw and Lateral Degrees of Freedom

    6.4 Shimmy and Energy Flow

    6.5 Nonlinear Shimmy Oscillations

    Chapter 7. Single-Contact-Point Transient Tire Models

    7.1 Introduction

    7.2 Model Development

    7.3 Enhanced Nonlinear Transient Tire Model

    Chapter 8. Applications of Transient Tire Models

    8.1 Vehicle Response to Steer Angle Variations

    8.2 Cornering on Undulated Roads

    8.3 Longitudinal Force Response to Tire Nonuniformity, Axle Motions, and Road Unevenness

    8.4 Forced Steering Vibrations

    8.5 ABS Braking on Undulated Road

    8.6 Starting from Standstill

    Chapter 9. Short Wavelength Intermediate Frequency Tire Model

    9.1 Introduction

    9.2 The Contact Patch Slip Model

    9.3 Tire Dynamics

    9.4 Dynamic Tire Model Performance

    Chapter 10. Dynamic Tire Response to Short Road Unevennesses

    10.1 Model Development

    10.2 Swift on Road Unevennesses (Simulation and Experiment)

    Chapter 11. Motorcycle Dynamics

    11.1 Introduction

    11.2 Model Description

    11.3 Linear Equations of Motion

    11.4 Stability Analysis and Step Responses

    11.5 Analysis of Steady-State Cornering

    11.6 The Magic Formula Tire Model

    Chapter 12. Tire Steady-State and Dynamic Test Facilities

    Chapter 13. Outlines of Three Advanced Dynamic Tire Models


    13.1 The RMOD-K Tire Model (Christian Oertel)

    13.2 The FTire Tire Model (Michael Gipser)

    13.3 The MF-Swift Tire Model (Igo Besselink)


    List of Symbols

    Subscripts and superscripts

    APPENDIX 1. Sign Conventions for Force and Moment and Wheel Slip

    APPENDIX 2. Online Information

    APPENDIX 3. MF-Tire/MF-Swift Parameters and Estimation Methods


Product details

  • No. of pages: 672
  • Language: English
  • Copyright: © Butterworth-Heinemann 2012
  • Published: April 9, 2012
  • Imprint: Butterworth-Heinemann
  • eBook ISBN: 9780080970172
  • Hardcover ISBN: 9780080970165

About the Author

Hans Pacejka

Hans Pacejka
1934 Born in Rotterdam, the Netherlands

1946-1951 Highschools in Rotterdam and Bandung (Indonesia)

1959 MSc. degree in Mechanical Engineering at TU-Delft

1966 Ph.D. degree at the Delft University of Technology

Thesis on the Wheel Shimmy Phenomenon

Advisers: Prof. De Pater and Prof. Van Eldik Thieme

!966-1996 Professor of Vehicle System Engineering

Delft University of Technology

1971 Visiting professor at HSRI (UMTRI), University of Michigan

!972-1989 Editor in Chief of journal Vehicle System Dynamics

1977-1989 Secretary General of the International Association for Vehicle System Dynamics (IAVSD)

!989 Honorary Doctorate

Stockholm Royal Institute of Technology

1993-2006 Consultant TNO-Automotive, The Netherlands

1994-2000 President of IAVSD

2002- 2012 Author of book (1st, 2nd ,3d editions) ‘Tire and Vehicle Dynamics’

Hans' areas of expertise include theoretical and experimental research on the dynamics of road vehicles and on the mechanical behaviour of pneumatic tires, and Bond graph modeling of dynamic systems.

Affiliations and Expertise

Professor of Vehicle Engineering at the Delft University of Technology. Editor in Chief of the journal Vehicle System Dynamics. Secretary General and President of the International Association for Vehicle System Engineering. Consultant TNO Automotive.

Ratings and Reviews

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  • Philipp E. Tue May 15 2018

    Best book for tyres on the market

    It's not a book, it's the book for tires!