Driving Limits
In the consideration of possible driving performances, it has so far been assumed that the circumferential force acting in the tire tread area can be infinitely transferred onto the road. Indeed, according to the law of friction, the transferable traction force between the tires and road is limited by the coefficient of friction and the axle loads.

Eq. 3-35

This restriction results in friction induced driving limits. Besides the road and tire condition, the coefficient of friction μ also depends on the slip between tires and road.