| The Basic Two Wheel Model is used for steering control of cars in the expressway. This model is a simple car model which can be used under the condition such as constant velocity. We need to use tire model to the car model for accurate realization of car motion when designing the control system of cars in the situation accompanied by velocity change and steering operation such as an ordinary road. However, since Fiala model that generally used as the tire model is complicated, we consider that the car model becomes complicated. In this paper, we propose the simpler car model which considered velocity change, steering operation and tire’s motion. |