，建立车体6个自由度加上前轮转向系统1个自由度的汽车数学模型；该汽车数学模型不需引入很多的人为假设；可以实现给定汽汽车前轮转角，也可以不给定前轮转角；不依赖需要复杂测定的侧向力函数及相关模型参数；考虑了轮胎的滚动特性 已通过测试。

-Vehicle mathematical model of one degree of freedom, the establishment of the body' s six degrees of freedom coupled with front-wheel steering system　mathematical model of the car does not need to introduce a lot of people assume　front wheel angle can be achieved given steam can also be given front wheel angle　does not depend on the complex determination of the lateral force function and model parameters　consider rolling characteristics of the tire has been tested.