An approach to modeling parameterized FEM tire based on experimental modal parameters was proposed. Natural frequencies, mode shapes and damping ratios of FEM tire model with the optimal parameters had good agreement with modes acquired by the experiment. With Craig-Bampton method and tire-ground contact characteristic obtained from tire static radial compression experiment, normal and constraint modes of FEM tire model were extracted for building dynamic substructure model of tire. The coupling of tire substructure model and vehicle multi-body model was realized through modal synthesis, which can contribute to vehicle dynamic simulation and optimization design.