Table of contents : 1 Tyre characteristics and vehicle handling and stability......Page 3 2 Basic tyre modelling considerations......Page 63 3 Theory of steady-state slip force and moment generation......Page 92 4 Semi-empirical type models......Page 158 5 Non-steady-state out-of-plane string-based tyre models......Page 218 6 Theory of the wheel shimmy phenomenon......Page 297 7 Single contact point transient tyre models......Page 341 8 Applications of transient tyre models......Page 366 9 Short wavelength intermediate frequency tyre model......Page 414 10 Motorcycle dynamics......Page 513 References......Page 582 List of symbols......Page 592 Appendix 1 Sign conventions for force and moment and wheel slip......Page 598 Appendix 2 TreadSim......Page 599 Appendix 3 SWIFT parameters......Page 615