“…For the vehicle dynamics perspective, these modelling efforts have typically centered around estimating vertical, longitudinal, and lateral force from vertical displacement, % slip, and slip angle. To date there is a wealth of knowledge on this topic as well as many survey papers and books discussing the various methods and their relative performance (Chang et al, 2004;Pacejka, 2005;Li et al, 2014;Khaleghian et al, 2017). These range from basic semi-empirical approaches like the Magic Formula (Pacejka and Bakker, 1992) and TMEasy (Hirschberg et al, 2007) to high fidelity lumped-mass and Finite Element approaches such as FTire (Gipser, 2007) and CDTire (Gallrein and Bäcker, 2007).…”