This is a very interesting and complex question. Depending on how detailed caclulations you require, and also on computational resources, different methods are possible including DEM. Good starting point is to look at "Tire Energy Loss from Obstacle Impact" by Tymothy Rhyne.
The main my idea is to calculate how much speed vehicle tire lost in traffic accident when tire contact with road border when driving straight it, and tire side contact.
What decision needs to be made that this information will help to make? (considering the many parameters involved, I wonder if an experiment wouldn't be more efficient)