The Dugoff tire model then dictates, at the front, calculate,

Fyfd =

Fxfd =

C y tan f

(5)

1 s f
Cx s f

(6)

1 sf

where Ci are tire coefficients in the lateral and longitudinal directions that depend on tire
properties and the normal force on the tire.
We then calculate, for the front

f =

f
F
yf
2 d
N
f

(7)

2 1/2

Fxf d
+

N f

Then,
Fy f = Fyf d

f 1

if

Fy f = Fyf d 2 f 1 f
2

Fx f = Fxfd 2 f 1 f
2

f < 1

if

(8)

Fxf = Fxfd

(9)

The computational procedure is identical for the rear of the vehicle and would be the
same for each tire in a 4 wheel model. Fig. 3 shows the cornering force versus slip angle
for various values of longitudinal slip for a typical passenger car tire. The curves show
the nonlinear force characteristic as the slip angle increases.
Fig. 3 Cornering force versus slip angle for
variation in longitudinal slip from the
Dugoff tire model

0.8
s=0
s=.2
s=.4
s=.6

0.7
0.6

Fc / N

0.5
0.4
0.3
0.2
0.1
0

6
slip angle, deg

10

12

H. Dugoff, P.S. Fancher, and L.

Segal,
An Analysis of Tire Traction
Properties and
Their Influence on Vehicle
Dynamic
Performance, SAE Paper No.
700377, 1970.