Off-road vehicle performance is strongly influenced by the tire-terrain interaction mechanism. Soft soil reduces traction and significantly modifies vehicle handling; therefore tire dynamics plays a strong role in off-road mobility evaluation and needs to be addressed with ad-hoc models. Starting from a semi-empirical tire model based on Bekker-Wong theory, this paper, analyzes the performance of a large four wheeled vehicle driving on deformable terrain. A 14 degree of freedom vehicle model is implemented in order to investigate the influence of torque distribution on tractive efficiency through the simulation of front, rear, and all wheel drive configuration. Results show that optimal performance, regardless vertical load distribution, is achieved when torque is biased toward the rear axle. This suggests that it is possible to improve tractive efficiency without sacrificing traction and mobility. Vehicle motion is simulated over dry sand, moist loam, flat terrain and inclined terrain. (C) 2011 ISTVS. Published by Elsevier Ltd. All rights reserved.
