A digital computer simulation of complex, three-dimensional dynamics of automobiles on irregular terrain is described which is suitable for studies related to vehicle braking systems and to the driving task, including the upper limits of control as well as the linear ranges of operation. The reported simulation is an extended version of an earlier, validated mathematical model. A number of refinements and extensions of the analytical treatments of tire forces, suspension properties, and terrain definitions, have been incorporated. Also, analytical representations of the braking system and driveline, and approximations of rolling resistance and aerodynamic drag, have been introduced. Sample outputs of the modified computer program are presented and discussed.