This model shows a four-wheel drive vehicle starting from rest and ascending a 15 degree incline. Initially the vehicle rolls backwards until the engine develops sufficient torque to counter the slope. The tire compliance dynamics can be seen as the vehicle starts to accelerate. The model variant chosen for all of the tires can be set to the Simple, Friction Parameterized, or Magic Formula tire model using the hyperlinks in the model.
The plots below show the engine and vehicle speed. As the vehicle is starting at rest on an incline, it rolls backwards until the torque of the engine is enough to push the vehicle up the hill.