Comparative Analysis of Tire-Road Contact Models in a Multibody Driver-in-the-Loop Simulator

This work aims to explore, integrate, and validate an enhanced tire-road contact model to be used within the multibody vehicle model developed by Unimore Racing for vehicle dynamics-oriented simulations and future Driver-in-the-Loop (DiL) applications. The study first reviews the state of the art in DiL simulators with particular emphasis on the most commonly adopted tire models in vehicle dynamics simulations. The analyzed contact models, namely the single-point, five-point and a more complex grid contact representation, are then implemented within a simulation framework. This framework features a road representation based on the CRG (Curved Regular Grid) format, allowing for a realistic description of track geometry and surface characteristics. A parameter identification and fitting process is carried out to calibrate the model using available experimental data, and the resulting force behavior is validated against reference measurements. Finally, the validated models are employed to assess the dynamic response of an autonomous racing vehicle under non-standard operating conditions, such as driving over kerbs. The results highlight the importance of a robust and accurate simulation framework for the validation of control algorithms prior to real-track testing.