Abstract: The tangential stiffnesses and damping were measured with the improved device (to measure terrain roughness). The notable regression formulas of the non linear experimental damping were obtained. The results indicated that the tangential damping will be decreased with velocity. The test stand was used to examine the dynamic damping behaviour of the tyre in the speed range 0～5 km/h. The inflation pressure was 0.16,0.24,0.32 ,0.40 MPa, and five vertical loads: 5.2,5.7,6.2,6.7,7.2kN. An in plane rigid ring tyre model to study the tyre responses was presented. The calculation formulas of tangential and rotational stiffnesses were derived. The damping and stiffnesses in the model were varied with the velocity. It was modelled in three components: the tyre tread band, the rim and the sidewalls. The contact of the ring with road is governed by the vertical and longitudinal residual representing the large deformation of the tyre in the contact patch and a slip model that generates the horizontal forces in the contact patch. The tyre parameters vary with velocity. The tyre model was based on the mathematical description of actual physical phenomena involved in tyre mechanics.Comparisons between experimental and computed data were performed with satisfactory results. This work deals with the researches associated with the vehicle's driving and comfort performance in the medium low frequency range (0～100 Hz).The tyre model is useful both for vehicle in plane behaviour simulations and as a link between the FEM models (used in the tyre design) and the forecasting of the real tyre dynamic behaviour analysis.