TY - JOUR A1 - Oertel, Christian A1 - Wei, Yintao T1 - Tyre rolling kinematics and prediction of tyre forces and moments: part I - theory and method T2 - In: Vehicle system dynamics 50 (2012) 11, 1673-1687 N2 - A new method to describe tyre rolling kinematics and how to calculate tyre forces and moments is presented. The Lagrange–Euler method is used to calculate the velocity and contact deformation of a tyre structure under large deformation. The calculation of structure deformation is based on the Lagrange method, while the Euler method is used to analyse the deformation and forces in the contact area. The method to predict tyre forces and moments is built using kinematic theory and nonlinear finite element analysis. A detailed analysis of the tyre tangential contact velocity and the relationships between contact forces, contact areas, lateral forces, and yaw and camber angles has been performed for specific tyres. Research on the parametric sensitivity of tyre lateral forces and self-aligning torque on tread stiffness and friction coefficients is carried out in the second part of this paper. Y1 - 2014 UR - https://opus4.kobv.de/opus4-fhbrb/frontdoor/index/index/docId/594 SP - 1673 EP - 1687 ER -