Abstract: Dynamic model of four-wheel steering (4WS) vehicle based on proportional control was built. In Matlab software environment with the consideration of different vehicle speeds, the transient responses of the driver model following vehicle trajectory, vehicle yaw rate, lateral acceleration and front steering angle were analyzed. Simulation results were compared with that of front-wheel steering (FWS) vehicle without control. It is indicated that the handling stability of 4WS vehicle at high speeds is superior to that of ordinary FWS vehicle under the same driver model. Furthermore, the simulation of choosing a road with complex closed curve could be more objectively reflect the control effects and vehicle handling dynamic characteristics.