Tire models used in vehicle dynamic simulation for traction control and handling stability need to be capable of predicting tire/road lateral and longitudinal forces during accelerating and steering. However, existing physics-based tire models are unable to offer an appropriate balance between accuracy of simulation and computational cost. Empirical tire models can provide low complexity and high accuracy for some maneuvers, but the standard coefficients of these models don’t have any direct physical significance. To overcome these limitations, we present a volumetric approach to derive the dynamic friction forces in both longitudinal and lateral directions. In this study, a combination of bristle friction model and Coulomb friction model is developed to compute the longitudinal force, the lateral force, the rolling resistance moment. Measurements of the tire/road friction forces from vehicle dynamic testing are used to identify the parameters of the friction forces.