Relaxation Behavior
The longitudinal deformation
and lateral deformation
For small values of u and v, the longitudinal and lateral forces will be
Where and are tire’s structural stiffness in longitudinal and lateral direction respectively. Using relaxation lengths in force calculation will result in following equations
Where
The force calculation remains the same but and are used in place of and .
When the state value goes out of bounds; an artificial damping can be applied to the state values. It is required when a tire goes over large obstacles. Low_speed_threshold, damp_x, damp_y are three additional parameters in tire property file that can be used to tune artificial damping to avoid non-physical values of state.