In order to study on the vehicle’s dynamic behavior, this study presents a new dynamic modeling of the vehicle by considering the engine dynamics. The coordinate systems are considered separately for the sprung mass and unsprung masses. By using Newton’s equations of motion, the force-torque equations of the sprung mass and unsprung masses are derived in the vehicle coordinate system. In general, the sprung mass in modeling of the vehicle is considered as a rigid body. However, in this study the components rotation of the sprung mass such as the engine crankshaft is considered and its gyroscopic effects are exerted in the governing equations. The lateral and longitudinal forces of the tire are evaluated by Pacejka model. In fishhook maneuver, the vehicle's dynamic behavior is studied by the numerical simulation method under the supervision of the National Highway Traffic Safety Administration (NHTSA). The numerical simulation results are also validated by ADAMS/Car software. According to the results, the 15-DOF model in this research simulates the vehicle’s dynamic behavior with a good accuracy and the maximum roll rate of the vehicle reaches about 37 degrees per second. Manuscript profile