<p>A simple, physically based tire model that takes into account dynamic friction characteristics at large slip is essential for high-precision and real-time control of tire forces. However, when the dynamic friction characteristics are further considered in the basic brush tire model, the complexity of the model prevents the application in the above cases. Based on the brush theory, this paper gives a semi-physical tire model with a simple form through reasonable simplified analysis. Sensitivity analysis demonstrates that when parameters such as vertical load and vehicle speed vary within typical ranges, the maximum contribution of residual tire force reaches approximately 3%, while the maximum contribution of residual moment is 10%. The rationality of model simplification and the accuracy of expression are verified by the tire force test data. For tire A, the maximum residual tire force contribution is less than 1.5% under pure longitudinal slip and less than 3% under pure lateral slip. The results show that the proposed model allows the dynamic friction characteristics to be considered separately from the calculation equations of tire forces and moment, and the model has close expression accuracy to the original brush tire model considering dynamic friction characteristics under typical operating conditions.</p>