A dynamic tire modelLuGre tire model which could be used in the vehicle emergency braking simulation was introduced. This model has similar steady-state characteristics compared with “magic formula”. Its parameters could be easily decided by the experimental tire data and tuned on-line. LuGre tire model could not only capture transient characteristics in the emergency braking process, but also take advantage to the development of high-performance electronic braking control systems to improve the vehicle safety because of using the form of ordinary differential equation. The basic characters of the LuGre tire model were described and its steady-state and transient characteristics in the simulation of the emergency braking process have been analyzed.