车辆转向系统是一个复杂的系统，轮胎力的非线性使得转向系统呈现出强烈的非线性特征。建立了车辆转向系统的非线性模型，并引入了非线性动力学的思想，通过分析系统奇点的性质，研究了轮胎的几何性质以及车辆的纵向加速度对操纵稳定性的影响，在稳定条件中引入了车辆纵向加速度，深化了操纵稳定性的研究。

Vehicle cornering system is a complicated system, the nonlinear tire force makes cornering system present strong nonlinear. The nonlinear model of the vehicle cornering system is established and the theory of nonlinear dynamics is introduced in this paper. Through the analysis of the character of the singular point, the influence of the geometrical character of the tyre and the longitudinal acceleration to the handling stability is studied, and the longitudinal acceleration is added to the stability condition, which deepen the study of the handling stability.