Based on the results of tire handling test, the cornering properties of the tire at small side slip under different temperature are obtained, and the variation law of the parameters of tire cornering characteristic with the temperature is obtained. By establishing a tread temperature model and finite element tire model considering the influence of temperature, the mechanism of tire mechanical properties with temperature is clarified, and the expression of tread stiffness and aligning stiffness considering temperature is obtained. Then, based on the above expression and the tire mechanical characteristics with temperature, a complex brush model is established and the relationship between the temperature and the tire cornering properties is obtained. The relationship is used as the basic expression formula to establish the UniTire cornering model considering tire temperature. In order to verify the correctness of the model, four kinds of temperature state cornering data are used for parameter identification, and the tire cornering properties in the other two temperature states is predicted. The error between the simulation results of the prediction model and the experimental results is very small, which effectively proves the predictive ability of the UniTire cornering model considering tire temperature. This research is helpful to improve the application of UniTire model under different temperature condition.