The paper goal is to present a theoretical and experimental study on the dynamics of the vehicle in the turn, at the adhesion limit. Starting from the simplified model of the vehicle in an accelerated motion (bicycle model) on the curved road are obtained the equations which are governing this motion, for the traction 4x2 and 4x4 cases. The experimental determinations were performed on three categories of cars with suitable equipment which recorded several important parameters of this complex vehicle motion.