Vehicle dynamical modeling is the key to the vehicle dynamic performance simulation analysis, and the accuracy of the dynamical model will directly affect the accuracy of the simulation results. In order to study the stability of vehicles under the steering braking condition, a dynamical model is set up with a three-axis wheeled armored vehicles as the prototype, which includes modules such as the tire model and the brake model, and contains ten degrees of freedom, including vehicle body's lengthways, side direction, yaw, roll and six wheels rotation. Through the straight line braking test and angle step bra-king test, the accuracy of the model is verified indirectly. These tests are also a model basis for the simulation of steering bra-king condition.%车辆动力学建模是车辆动力学性能仿真分析的关键，动力学模型的准确程度直接影响到仿真结果的准确程度。针对所研究的车辆在转向制动工况下的行驶稳定性，以某三轴轮式装甲车辆为原型，建立了包括轮胎模型，制动器模型等模块的包含车身纵向，侧向，横摆，侧倾以及六个车轮的转动共十个自由度的动力学模型，并通过直线制动和角阶跃制动两个试验，间接验证了模型的准确性，为转向制动工况的仿真建立模型基础。
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