Paper presented at ISTVS 2025 | 55th Conference of the International Society for Terrain-Vehicle Systems https://doi.org/10.56884/4MCVKUXF
Authors: Luca Zerbato, Carl M. Becker, Andries J. Peenze, Enrico Galvagno, P. Schalk Els
Keywords: Off-road performance; Experimental testing; Tyre-terrain interaction
Abstract:
The prediction of vehicle performance during off-road missions has historically been a complex task due to the interaction between tyres and soft soil. A comprehensive characterisation of vehicle performance across different terrains is essential for a full understanding of tractive and handling behaviour. Moreover, it is crucial to discuss the tools and methods needed to extract relevant information from off-road testing, as standardisation in this area is lacking compared to on-road testing. This paper focuses on characterising vehicle performance using experimental data collected during an off-road testing campaign conducted across various terrains, including Kalahari Desert sand and gravel pavements. For longitudinal dynamics, coast-down, acceleration, braking, and Drawbar Pull tests are performed to assess rolling resistance, traction, and braking capabilities under off-road conditions. For lateral dynamics, constant-radius tests are conducted on gravel terrain to evaluate cornering behaviour. The synthesis of test analysis results serves as the foundation for developing simplified lumped-parameter handling models and estimating contact parameters for tyre–terrain interaction models.
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