The vertical load of tire affects the lateral force and longitudinal force of the tire,thus affecting the longitudinal dynamic characteristics and lateral dynamic characteristics of the vehicle.In vehicle dynamics control,real-time and accurate estimation of wheel vertical load is the basis for calculating other important vehicle motion state parameters.However,there are many shortcomings in the formula of estimating the vertical load of tires at present.One is strong pertinence and poor universality; two is too much simplification and low estimation precision; three is different expression form,poor readability and poor normalization.Aiming at these problems,the formula for calculating the vertical load of tire is given in detail and verified by CarSim.The simulation results confirm the advantages of the formula.