Abstract: To investigate the tire working state during skid-steering, a general theoretical model of tire cornering properties based on two-dimensional load distribution was established. The working state of the skid-steering tire was analyzed and the expressions of lateral force and aligning torque were derived. Moreover, the slip curve was presented and the simplified method was proposed. The result shows that, compared with the condition of uniform load, the condition of non-uniform load leads to a great difference in tire cornering properties.