The purpose of this thesis is to develop a tyre model for simulating the off-road driving, suitable to run in real-time on professional dynamic driving simulator. The dynamic phenomenon of tyre-soil interaction is complex; considering the fundamental equations of the “Terramechanics”, the model aims to calculate forces and moments, which are generated by the wheel during the contact with a soft soil, such as sand, loam. The model has been developed in Matlab/Simulink environment, using the co-simulation technique with a commercial 14 DoF vehicle dynamics software. The tyre longitudinal forces (traction/braking) have been modelled with the assumption of considering the tyre as a rigid wheel.