“…Another tire model from Akasaka illustrates the relationship between stiffness and tire pressure [39]. The theoretical formula of the rotational spring constant about p is [38]:Kt=g(rB,rc,rD,φD,αD,θ)⋅p+h(h,rB,rD,φD,Vr,Gr), where K t is the rotational spring constant, which is nearly the same as K θ in the spring-loaded ring tire mode; p is the tire pressure; r B , r C , and r D are the tire radius parameters related to special tire positions; φ D , and α D are the angle parameters; θ is the rotational displacement; V r is content rate; G r is the rigidity modulus; and h is the thickness. Equation (2) is used to illustrate the relationship between the stiffness and tire pressure, so there is no need to derive it in detail.…”