Today's studies in Vehicle Dynamics are becoming increasingly isolated from one another. They relate to different systems of a vehicle and do not demonstrate an interconnection between these systems. For example, mechatronic systems to control the circumferential wheel forces of vehicles can be divided into two groups: systems of the first group act through the brake system and throttle, and the second group's systems act through the drivetrain. Systems of both groups are not interconnected with one another. This approach is not conducive to moving ahead in the development of novel systems, such as autonomous vehicles. A new approach has been proposed to overcome these difficulties [1-5]. The proposed approach in vehicle dynamics is aimed at the control of the vehicle properties. Developing of a new direction in vehicle dynamics requires a mathematical model, which would allow design engineers to control the interaction between a wheel and road surface in three dimensions - the normal, longitudinal, and lateral ones. However, the interaction in the real-life system is so complex that a model would be equally complex and thus unmanageable or prohibitively expensive. The development of such a model that would include a certain minimal set of the system's characteristics so that the model approximates the real system yet remains cost-effective and manageable and meets engineering needs, is the aim of this paper.