Bond graphs are a concise pictorial representation of the interactive dynamics of all types of energetic, engineering systems. Their virtue lies in the relatively few symbols required to model dynamic systems with many coupled, interacting energy domains, in the ease with which physical state variables are identified, and in the manner in which equation formulation is dictated. The procedure for deriving state equations is so unified and repetitive, that a digital computer can automatically derive the state equations directly from the bond graph structure.This paper develops some of these bond graph virtues for application to vehicle dynamics with emphasis on 3-D rigid body sprung mass motions, suspension dynamics, and steering dynamics. The methods of including control in the system model are presented, and the development of control policies for nonlinear vehicle systems is discussed.Several programs currently exist for automated equation derivation and simulation directly from a bond graph description. In some of these programs the system can be linear or nonlinear, and represents a substantial aid to the engineer in the design of vehicle systems. These programs are discussed.