A Low-Fidelity Finite Element Model of Tire-Terrain Interaction for Autonomous Off-Road Vehicles

Tire mobility with low compaction for off-road tires is considered necessary. In this regard, it is imperative to investigate the tire/ground interaction and finite element method has the capability to perform the fundamental analyses and simulations to present the results accordingly. A two-dimensional (2D) low-fidelity model pertaining to an off-road tire for a relatively light autonomous vehicle rolling on ground with consideration of different values of slipping percentages was simulated using a finite element (FE) software ABAQUS. A comprehensive parametric study was conducted to understand the essential effects on the tire/ground interaction specifically, the vertical stress distribution in the ground right beneath the tire after travelling a specific amount of time. The effect of several parameters including the autonomous vehicle weight, friction coefficient between the tire and the ground, Young’s modulus of tire as well as various types of ground such as natural soil, sand and soft soil (clay) were scrutinized and are discussed in detail. Keywords: Tire/ground interaction; Tire slipping; Soil compaction; Vertical stress distribution; Finite element method (FEM).