Abstract
A historical overview of theory and experiment pertaining to tyre shear force generation during combined slip is presented followed by a review of more recent empirical findings. The requirements for modeling the tyre in combined maneuvers are summarized prior to presenting a semi-empirical model of the tyre developed to fulfill these requirements. The ability of the developed model to fit the shear force characteristics exhibited by belted, radial-ply tyres and bias ply tires is examined and demonstrated.