The precise and accurate control of the friction between tire and road is the foundation of the vehicle driving conditions furthest utilization and vehicle dynamics control. First the tire / road longitudinal and lateral dynamic friction characteristics is studied in this paper. The lumped,distributed and lumped average dynamic tire models are established; Then the steady-state LuGre dynamic tire model characteristics is studied and was compared with magic formulas tire model,etc. to verify the reliability of the model. The results showed that the LuGre model can express tire dynamic friction characteristics. The tire dynamics study in this paper has important significance for the tire mechanics and automotive electronic control system development. The precise and accurate control of the friction between tire and road is the foundation of the vehicle driving conditions furthest utilization and vehicle dynamics control. First the tire / road longitudinal and lateral dynamic friction characteristics is studied in this paper. The lumped, distributed and lumped average dynamic tire models are established; Then the steady-state LuGre dynamic tire model characteristics is studied and was compared with magic formulas tire model, etc. to verify the reliability of the model. The results showed that the LuGre model can express tire dynamic friction characteristics. The tire dynamics study in this paper has important significance for the tire mechanics and automotive electronic control system development.