The mathematical models of the steering, suspension and tires were established, and based on those models, the relationship between yaw velocity and heeling angle was deduced theoretically. In addition, the influence of road surface adhesion and speed on angle input was analyzed. At the same time, the change of yaw velocity and heeling angle were recorded under the different speeds and front wheel corners. Through detailed analysis the change rule of the steady state value was summarized. At last, the result of simulation and experiment showed the correctness of the simulation and the models, and provided a theoretical reference for the lateral and vertical dynamics integrated control. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.