Abstract: A tire dynamic friction characteristics model based on road surface characteristics is proposed to study the impact of contact pressure, sliding speed, and road surface characteristics on the tire force. By considering the theory of true contact with rough road, the sliding friction coefficient model and the general tire model, the dynamic tire friction character model based on the GW improved contact model was established. The impact of contact pressure, sliding speed and road surface characteristics on the actual contact area and tire dynamic friction was evaluated quantitatively, and the possibility status area of tire imprint was presented. The simulation result shows that the tire dynamic friction model based on road surface characteristics can accurately reflect the impact of contact pressure, sliding speed, and road surface characteristics on the tire force while the tire is in the sliding state.