Abstract: A finite element analysis model of steady rolling tires is developed in this paper. The model includes the geometric nonlinearity due to large deformation, material nonlinearity, incompressibility constraint on deformation of elastomers, the anisotropy of cord-rubber composites, the nonlinear boundary conditions resulting from both tire-rim contact and tire-foundation contact and the tire-foundation contact slip friction in steady rolling. Numerical results show that the model is very reasonable.