Hi everyone, I want to build a car-model which should be good enough to study under-steer/over-steer and test various safety algorithms like ABS, TCS, ESP. Initially I made a quarter car model, here I could implement simple ABS,TCS. Quarter car model supports only longitudinal dynamics and is not adequate for realistic new tasks I have mentioned above. So now I am confused on which model to implement, I have two options Bicycle model and two track model. Based on your experience or knowledge please guide me. I am new to vehicle dynamics and modelling. Thank you all in advance.