Moreover, HTire uses a certain numerical modification of the slip quantities at very small forward speed, to deal with the well-known slip singularities in such operating points. At even smaller speed, HTire switches smoothly to a model variant for standing condition, being able to keep the vehicle completely standing even on inclined roads, if the park brake is engaged.

Thanks to these modifications, HTire does not show any numerical instability during stand-still. However, the modification might result in a certain small but non-zero sliding velocity when the vehicle is parking on an inclined road, even if the wheels are blocked.

See Also:

Modeling Approach