The mobility of vehicles in off-road environments is critical for many applications. Predicting the tire-soil interaction is a challenge, especially in non-linear deformable terrain. This paper presents an overview of the bibliographic references on tires–deformable soil interactions after the 2000's, identifying the gaps in the literature. The capabilities and challenges of different modeling frameworks used for mobility (i.e., empirical, semi-empirical, and physics-based) are discussed; special emphasis is given to continuum-based frameworks. A summary of terrain material models used to approximate the behavior of coarse and fine-grained soils is provided with practices used to characterize such materials. A review of tire models for deformable soil navigation and the tire-soil interfaces is provided. Strategies to validate all these models are presented. Finally, the application of these studies for assessing the sensitivity concerning input parameters (e.g., velocity, inflation pressure, and normal load), multi-pass, multi-layered soils, wet soils, and fully integrated multi-body vehicle models are discussed. The final contribution of this review paper is a summary table that synthesizes the extensive bibliographic review. Overall, this work highlights a lack of physics-based trafficability studies in wet and plastic deformable soils. Moreover, studies on contact adhesion, stone picking, multipass, and cornering also need improvement.

车辆在越野环境中的机动性对于许多应用来说至关重要。预测轮胎与土壤的相互作用是一项挑战，特别是在非线性变形地形中。本文概述了 2000 年代后有关轮胎与可变形土壤相互作用的参考文献，找出了文献中的空白。讨论了用于移动性的不同建模框架（即经验、半经验和基于物理的）的功能和挑战；特别强调基于连续体的框架。提供了用于近似粗粒和细粒土壤行为的地形材料模型的摘要，以及用于表征此类材料的实践。回顾了用于可变形土壤导航的轮胎模型和轮胎-土壤界面。提出了验证所有这些模型的策略。最后，讨论了这些研究在评估输入参数（例如速度、充气压力和正常载荷）、多通道、多层土壤、湿土壤和完全集成的多体车辆模型的敏感性方面的应用。这篇综述论文的最后贡献是一个总结表，综合了广泛的书目综述。总体而言，这项工作凸显了湿地和塑性变形土壤中缺乏基于物理的可通行性研究。此外，对接触附着力、挑石、多道次和转弯的研究也需要改进。并讨论了完全集成的多体车辆模型。这篇综述论文的最后贡献是一个总结表，综合了广泛的书目综述。总体而言，这项工作凸显了湿地和塑性变形土壤中缺乏基于物理的可通行性研究。此外，对接触附着力、挑石、多道次和转弯的研究也需要改进。并讨论了完全集成的多体车辆模型。这篇综述论文的最后贡献是一个总结表，综合了广泛的书目综述。总体而言，这项工作凸显了湿地和塑性变形土壤中缺乏基于物理的可通行性研究。此外，对接触附着力、挑石、多道次和转弯的研究也需要改进。