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In this paper, a simple vehicle model was investigated for the study of vehicle behavior in the straight-ahead motion. The vehicle model has two degrees of freedom without any suspension effect included. Through the analyses of the model with the various tire properties, we can explain how force and moment characteristics of the tires can cause lateral drift in the straight- ahead motion in free control mode. In the second part of the paper, a commercially available car was selected for the validity of the analyses. This car was modeled in detail with one of the multi-body dynamics simulation programs. The simulation results show that the amount of vehicle deviation from the intended straight path is directly related to a characteristic of the front axle tires, known as ATSP (Aligning Torque Static Phase).