This paper presents theoretical analysis on the cornering properties of tire and vehicle. First, the side force, braking driving forces and self‐aligning torque on the tire are shown as functions of slip angle, slip ratio, camber angle and load. Next, the steady cornering properties of the vehicle using these tires are analyzed with the rolling conditions. Slip angle, slip ratio, camber angle and load, and forces and moments of the four tires are calculated. Effects of main factors on the above vehicle properties such as the load distribution, camber/roll ratio, front/rear drive ratio, tire size, tire wear, tire inflation pressure and tire friction are discussed.