Abstract
By using a tyre model which is rolling with a constant side slip angle and a constant slip ratio, the traction, braking force, side force, and self-aligning torque acting on the tyre are expressed as functions of the side slip angle and slip ratio. Accordingly, the effect of tractive and braking forces on the side force and self- aligning torque can be obtained. It is also confirmed that theoretical values coincide with experimental data.