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The article describes modeling and simulation of the vehicle physical model. The vehicle model is simplified and it is made up of body and 4 tires. The model contains elementary information of the vehicle geometry - dimensions and center of gravity position. These information about the vehicle are sufficient for mathematical description of vehicle. The model is made of basic elements like engine, gearbox, differential and tires, which are represented by blocks. The model includes also other blocks, which are used to show measured outputs and control blocks, that make the vehicle mechatronic systems controllable according the driver model inputs. There are also studied the forces on tires and the engine speed of the vehicle model.
