Due to the dimensions of the tyre-road contact area, transients in a tyre last approximately 0.1s. Thus, in the case of abrupt maneuvers such as ABS braking, the use of a steady-state tyre model to predict the vehicle’s behavior would lead to significant errors. Available dynamic tyre models, such as Pacejka’s MF-Tyre model, are based on steady-state formulations and the transient behavior of the tyre is included by introducing a first order differential equation of relevant quantities such as the slip angle and the slippage. In these differential equations the most significant parameter used to describe the transient behavior is the so-called relaxation length, i.e. the distance traveled by the tyre to settle to a new steady–state condition once perturbated. Usually this parameter is assumed to be constant.

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