For car of mass M moving in circle of radius R, with velocity v, requires a centripetal force which is obtained from friction force (μsN) between the tyre of car and road, that satisfies the following condition, Rmv2≤μsmg v≤μsRg (∵N=mg)
Thus, when a car is moving along a circle, then its velocity v≤μsRg, so that it will not move away from the circle.