For research and development of advanced driver assistance systems a tire simulation model is required, which is able to consider combined slip, large slip values up to 100% and non-steady-state motion. Developed in the paper approach represents a physical model as a combination of tire carcass and tread, which are described based on beam theory and kinematic constraints. The simulation precision of physical model for transient responses of lateral force and aligning torque is below 22% and 18% respectively without scaling factors for fitting.