1. 1Advanced Chassis and Transport Systems Department, TNO Automotive, Schoemakerstraat 97, 2600 JA Delft, The Netherlands
2. 2Mechanical Engineering Department, Politecnico di Milano, Via La Masa, 34, 20158 Milano, Italy
3. 3Research & Development, Pirelli Pneumatici SpA, Viale Sarca, 222, 20126 Milano, Italy
4. 4Research & Development, Nokian Tyres, Pirkkalaistie 7, FIN-37101 Nokia, Finland