Keywords Tire model;tire rubber;tire rubber friction test;tire sideslip property;,,,semi-empirical tire model;and vehicle dynamic simulation;

• 关键词轮胎模型;轮胎橡胶;轮胎橡胶摩擦试验;轮胎侧偏特性;轮胎半经验模型;汽车动力学仿真;