The real time vehicle simulator should reflect behavior of the vehicle such as acceleration and deceleration according to the operation of driver. Therefore, an analytical tire model that mathematically describes the structure and deformation of a tire is more suitable than an experimental tire model based on test data obtained from Flat track machine.
In this paper, we develop an analytical tire model based on the LuGre friction model suitable for the real time vehicle simulator. The LuGre tire model can express the physical properties by applying the bristle model between the road surface and the tire to the internal variables of the friction force model. The parameters of LuGre tire model were estimated by applying the optimization technique and verified by comparing with experimental data.