Abstract A vehicle model is developed employing a detailed nonlinear kinematic representation of a MacPherson strut front independent automotive suspension with a rack and pinion steering system. The vehicle model is capable of front wheel steering motions as well as vehicle body rolling motions. The vehicle model is used to simulate steady-state turning maneuvers on a smooth, flat road. The model is employed in conjunction with a realistic set of constraints to optimize a representative suspension and steering system with respect to steering error for turn radii and body roll angles typical of highway driving. Improved suspension and steering geometries are presented for two optimization studies.