，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-, 6 degree of freedom body set up with front-wheel steering system a degree of freedom mathematical model of the vehicle　mathematical model of the motor vehicle without the introduction of the assumption that a lot of man-made　can achieve a given vehicle' s front wheel angle, it may not give pre-set rotation angle　do not rely on the complexity of the determination of the required lateral force function and the related model parameters　taking into account characteristics of the tire rolling