I need the details to be up to wheel dynamics and nonliner tire forces.
Dear DR.: Would you please inform me if you have found a solution to your problem? If not, I think that the following paper may help:
Article RT-VC: AN EFFICIENT REAL-TIME VEHICLE COUNTING APPROACH
I recommend you project chrono: https://projectchrono.org/
In the newer versions of Matlab, you directly get the simulink blockset for vehicle dynamics. https://in.mathworks.com/products/vehicle-dynamics.html
You do not need any special software. You can simply model them by writing their ODEs.
For tire model you can use Magic Formula which gives you precise mathematic model of tire, rather than physical one.
You may build your own model like this paper:
Article Optimal Design and Control of 4-IWD Electric Vehicles based ...
I suggest you follow:
https://au.mathworks.com/help/ident/ug/modeling-a-vehicle-dynamics-system.html
You may read through this link.
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