A novel method and process that produce the multiple-degrees-of-freedom dynamic model of four-wheel-steering vehicle is proposed for dynamic prediction. It can avoid disadvantages of half-baked expression by simple linear dynamic model through thinking about nonlinear specialty of tire and applying two-dimensional LuGre tire friction model. The complexity caused by the unit of suspension which has absolute value elasticity and subsection linear damper is solved during modeling. Based on control law of turning angle, nonlinear dynamic characteristic of four-wheel-steering vehicle is calculated under the condition of small disturbance. The experiment supports the model and confirms a series of simulation results by Matlab 7.0.
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