Table of contents : 1 Tyre characteristics and vehicle handling and stability......Page 2 2 Basic tyre modelling considerations......Page 62 3 Theory of steady-state slip force and moment generation......Page 91 4 Semi-empirical type models......Page 157 5 Non-steady-state out-of-plane string-based tyre models......Page 217 6 Theory of the wheel shimmy phenomenon......Page 296 7 Single contact point transient tyre models......Page 340 8 Applications of transient tyre models......Page 365 9 Short wavelength intermediate frequency tyre model......Page 413 10 Motorcycle dynamics......Page 512 References......Page 581 List of symbols......Page 591 Appendix 1 Sign conventions for force and moment and wheel slip......Page 597 Appendix 2 TreadSim......Page 598 Appendix 3 SWIFT parameters......Page 614