Meanwhile, it is seen that the nonlinear and time-varying tyre model is useful for the sim ulation and analysis of braking performances of vehicles on rough road surface b ecause it reflects the real influence of the road surface roughness on tyre.

• 同时说明非线性时变轮胎模型能较真实地体现路面不平度的影响，对不平路面上车辆制动性能仿真是一个有效的轮胎力学模型。