This paper describes a new simple vehicle model derived by an object-oriented technique to analyze and design the vehicle control systems. The model describes four wheeled vehicle dynamics by a set of non-linear differential equations derived by the Newton-Euler method. In order to describe the simple but accurate vehicle dynamics, we developed 16 degree of freedom model which is consist of 3 rotational and transitional dynamics around the vehicle center of mass, 4 wheel rotation, suspension deflection and x-y rotation of front wheels which are due to the change of steering angle. Even the model is simple, it is enough accurate to be used to design vehicle controller. In the object-oriented approach, a well-known commercially available software is used for the verification of vehicle model. An example of straightforward analysis and design of vehicle dynamic system is shown. The model and the approach tasted by simulation shows the capability of real-time simulation.