A nonlinear model consisting “yaw, roll, longitudinal, lateral and pitch” has been developed in which, tire and suspension characteristics have been considered. Tire model is based on the elliptic concept and tire Calspan data. According to this tire model, cornering force and aligning moment are computed as a function of slip and camber (inclination) angles, normal load, tire adhesion characteristics and skid number. The effects of suspension systems and the component of lateral and longitudinal weight transfers, are considered. Finally the equations of motion are droven, vehicle handling behavior and effect of anti roll stiffness on handling characteristics are shown.

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