The tire forces and moments come mainly from the shear stress and sliding friction at the tread-road interface. The friction coefficient isn’t uniform over the contact patch because of the pressure and velocity distribution. However, most existing tire models don’t consider the influence of friction coefficient distributions. This paper aims to present a tire model considering friction distributions over the contact patch, which can be applied to steady-state and non-steady-state conditions. A discrete analytical tire model is proposed in this paper considering compliance of carcass, then the velocity distribution is discussed. Finally, a rubber friction model considering velocity and pressure distributions is introduced. The model adequately expresses the high-speed tire mechanical characteristics through simulation.