The MATLAB-files contained within this dataset describe a nonlinear steady-state cornering model for a six-wheel city bus. Due to the employed multi-body approach, the wheel-configuration of the model can be changed easily. The wheel location and orientation is completely parameterized, allowing for the analysis of different types of vehicles. Emphasis is placed on the calculation of the cornering resistance power and power lost due to scrub losses to research the effect of these tire-effect on the vehicle energy consumption. The current model includes six wheels, where the two sets of double rear wheels have individual rotational velocities. In the model derivation, linearizations are avoided: large angles are allowed and the non-linear Magic Formula is employed to calculate the tire forces. Additionally, lateral load transfer effects, due to the elevated center of gravity (CoG), are included. The developed non-linear model has four degrees of freedom. Steady-state solutions of the model are determined iteratively using an adapted Newton scheme. The model enables the calculation of all tire velocities and tire forces for a given cornering situation characterized by the cornering radius rho and the vehicle velocity v.This project has received funding from the European Unions Horizon 2020 research and innovation programme under grant agreement No. 713771 (EVERLASTING).