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In the development of autonomous vehicles, safety is as important as stability. To propose a control algorithm for autonomous vehicles under various conditions, the experimental formula “Magic Formula”, developed by Pacejka and Dugoff is employed to establish the vehicle dynamics equations. This paper presents a vehicle motion model that accounts for tire deformation effects in situations such as turning. The simulation results closely align with theoretical predictions, and the established simulation model ensures reliability. It also serves as a theoretical foundation for developing an optimal control algorithm for autonomous vehicles.

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Research on the Effect of Pacejka Tire Model to Autonomous Vehicle Dynamics and Motion Trajectory

  • 会议论文

  • 发表日期：

    2026年

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  • Quoc Cuong Phan,
  • Van Du Phan,
  • Duc Hieu Le,
  • Phuc Ngoc Nguyen

摘要

In the development of autonomous vehicles, safety is as important as stability. To propose a control algorithm for autonomous vehicles under various conditions, the experimental formula “Magic Formula”, developed by Pacejka and Dugoff is employed to establish the vehicle dynamics equations. This paper presents a vehicle motion model that accounts for tire deformation effects in situations such as turning. The simulation results closely align with theoretical predictions, and the established simulation model ensures reliability. It also serves as a theoretical foundation for developing an optimal control algorithm for autonomous vehicles.