The tire model HTire (Handling Tire Model) is another implementation of Pacejka’s well-known Magic-Formula tire model (MF), completed with an efficient contact computation, interfaces to all cosin road models, and certain model enhancements regarding combined slip and dynamic tire lag behavior.

HTire is designed to complete the FTire tire model family in situations where speed of computation is more important than accuracy in dynamic situations or prediction capabilities of a physically based tire model.

Two variants of the Magic Formula approach are made available

• the widely used 1989 version (MF89)
• the most recent 2002 version (MF2002)

MF2002 is comprehensively documented in chapter 4 of: Pacejka, H.B.: Tyre and Vehicle Dynamics. Butterworth Heinemann, Oxford 2002 (referred as [PAC] in the sequel). The cited book also contains the complete set of all equations implemented with the MF2002 horizontal forces sub-model.