Table 1 Calculation of related parameters of Pacejka tire model

x

α

s

C

1.3

1.65

D

\(b_{t}^{1} {\varvec{F}}_{tz}^{2} + b_{t}^{2} {\varvec{F}}_{tz}\)

\(a_{t}^{1} {\varvec{F}}_{tz}^{2} + a_{t}^{2} {\varvec{F}}_{tz}\)

E

\(b_{t}^{6} {\varvec{F}}_{tz}^{2} + b_{t}^{7} {\varvec{F}}_{tz} + b_{t}^{8}\)

\(a_{t}^{6} {\varvec{F}}_{tz}^{2} + a_{t}^{7} {\varvec{F}}_{tz} + a_{t}^{8}\)

BCD

\(b_{t}^{3} \sin \left( {b_{t}^{4} \tan^{ - 1} \left( {b_{t}^{5} {\varvec{F}}_{tz} } \right)} \right)\)

\(\left( {a_{t}^{3} {\varvec{F}}_{tz}^{2} + a_{t}^{4} {\varvec{F}}_{tz} } \right)e^{{ - a_{t}^{5} F_{tz} }}\)