In　order　to　comprehensive　analyse　the　vehicle　steering　performance　which　equipped　with　Electric　Power　Steering　System(EPS),　based　on　Matlab/Simulink,　the　EPS　integrated　simulation　model　was　built　which　integrated　by　the　models　of　general　EPS　system,　H.B.Pacejka　tyre　and　3-DOF　vehicle.　On　this　basis,　the　simulation　results　of　EPS　system　with　no　power　motor,　no-PID　control　assist　and　with　PID　control　assist　were　analysed.　The　results　show　that　the　integrated　simulation　model　has　better　dynamic　simulation　features,　PID　control　can　meet　the　control　requirements　and　have　good　stability.　©　2011　IEEE.