Abstract: In view of the existing problems in modeling of vehicle dynamics, a full car model was built based on the Lagrange equation considering conditions about the vehicle mass center and sprung mass center not coincide and the effects of vehicle body motion to the unspring mass. The built vehicle model could also correctly reflect the characteristics of vehicle ride and handling stability, the vertical motion and lateral motion. Taking the hydro-pneumatic interconnected vehicle asexample, the effects of the main coefficients of hydro-pneumatic interconnected suspension on the performance of vehicle swing and anti-lean were analyzed in Matlab/AMESim co-simulation environment. Some favorable conclusions were given.