A car with the mass $m$ drives with constant velocity in a horizontal curve with radius $r$.
It is not the velocity which is constant it is the speed which is constant as the direction of motion of the car changes as the car travels in a circular path.
To change the velocity of the car which in this case means changing the direction of travel of the car a force must be applied on the car - the car undergoes a centripetal acceleration.
If the road is not banked then the force acting on the car must be a frictional force on the car due to the road on which the car is travelling.
If there was no friction the direction of travel of the car would not change - think of hitting a patch of ice on the road.
The static frictional force $F_{\rm static}$ is related to the normal reaction $N$ as follows $F_{\rm static} \le \mu_{\rm static}N = \mu_{\rm static}mg$ where $m$ is the mass of the car noting that the static frictional force can vary up to a maximum value of $\mu_{\rm static}mg$.
In the situation that you have described that static frictional force is the only horizontal force capable of producing a centripetal acceleration $\dfrac{v^2}{r}$ where $v$ is the speed of the car and $r$ the radius of the bend.
Using Newton's second law, $F=ma$, gives $\mu_{\rm static}mg = \dfrac{mv_{\rm maximum}^2}{r}$.
At a lower speed than $v_{\rm maximum}$ the frictional force is less than $\mu_{\rm static}mg$ and the car goes aroung the bend.
If the speed of the car exceeds $v_{\rm maximum}$ the frictional force is insufficient to keep the the car going round the bend of radius $r$ and the car starts going along a path which has a larger radius of curvature ie the car cannot follow the bend and moves outwards.
It is sometimes the case that when this happens the car suddenly starts to skid there being relative movement between the tyres and the road.
When this happens kinetic friction is the important parameter and as it is smaller than static friction the frictional force drops dramatically possibly leading to a situation where the car is out of the control of the driver - the car is travelling almost in a straight line.