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This paper presents a new tire-road interaction friction model. It is intended for use in vehicle dynamics studies, estimation, and control design. The model is based on physical insights and captures the behavior of tire frictional forces with respect to combined (longitudinal and lateral) slip velocities. Compared with existing models, this model is described by a small number of parameters. Motivated by the nature of induced forces of friction, the behavior of the tire-road interaction forces is based on a Steinmetz equivalent circuit with particular energy dissipation terms. In this paper we illustrate the effectiveness of the model by using experimental data from a flat-track tire testing machine…