Modelling and estimation of tire–road longitudinal impact efforts using bond graph approach

Tire–road interface dynamics is due to the interaction of several physical phenomena (mechanical, thermal, hydrodynamic, etc.). Modelling of such a system needs a unified approach to represent the nonlinear behavior model in a generic and systematic way. Bond graph modelling is well suited for this task. The developed model allows to estimate the longitudinal impact forces at tire–road contact in interaction with its environment. A simulation model in modular and hierarchical form is developed in Symbols 2000 software and used for model integration and validation. Finally, comparison with experimental results are presented.