Chassis control systems, including ABS, traction control and vehicle stability control, utilize the available tire forces to improve vehicle acceleration, deceleration, handling and stability for active safety. Thus, it can be very beneficial to evaluate the tire force characteristics on actual road surfaces and use this information in the chassis control systems. In this paper, the research activities on evaluating the tire force characteristics and the performance of chassis control systems are introduced. The test procedure described for measuring the tire force characteristics on actual road surfaces using a test vehicle is relatively easy. The brake and side force characteristics are shown from the experimental data. The tire force characteristics during ABS braking were measured on various road surfaces. ABS performance is discussed based on the measured tire force characteristics. These test results illustrate a trade-off between vehicle deceleration and handling performance due to the ABS operating range from the view point of the tire force characteristics.