Model Parameter Extraction From Contact Geometry and Compliance in Tire–Soil Interaction

Abstract

A method for extracting traction model parameters from tire–soil interaction measurements and analysis to account for coupled tire–soil deformation is presented. The observable physical properties or conditions, measurable or explainable by principles of engineering mechanics, as factors affecting tire–soil contact surface geometry are identified. Tractive force and soil shear strength are dependent on the contact geometry. The rationale and methods to identify the confluence of parameters and their use to estimate an aggregate model parameter are discussed. The aggregate model parameter captures factors influencing the shape and scale of net tractive force and slip generated by driven tire, including in-situ soil water content and porosity, tire compliance, slip, and sinkage. One of the key aspirations of this paper is to show a method to estimate the soil strength parameter as a function of soil water content explicitly and incorporate in vehicle–ground interaction models.