On the basis of the steady - state semi - empirical model of the tire and the concepts of the relaxation length and the effective slip ratio , a non - steady semi - empirical model to express the tire longitudinal - slip response to the low - frequency input of the transient vertical load and transient slip ratio was presented 摘要在穩(wěn)態(tài)半經(jīng)驗(yàn)?zāi)P偷幕A(chǔ)上,根據(jù)松弛長度和有效滑移率的概念建立了能表達(dá)時變垂直載荷及時變滑移率低頻輸入下的輪胎縱滑特性非穩(wěn)態(tài)半經(jīng)驗(yàn)?zāi)P汀?