In this thesis, the development of a four-wheel steering vehicle dynamics model and the implementation of a driver controller are detailed. The model is intended to be used for supporting research in the cybersecurity of conventional and autonomous road vehicles. It incorporates a 10 degree-of-freedom vehicle model and a driver controller capable of steering all four wheels for improved vehicle lateral dynamics performance. The vehicle model is developed as a clean-sheet design using the fundamental principles of vehicle dynamics engineering and implemented in the Matlab/Simulink computing environment. A suitable driver-controller model that meets the industry standard requirements was adopted from the literature review and implemented in the model. The functionality of the model is demonstrated with established standard vehicle manoeuvres that were used as part of the validation process. The model shows moderate improvement in the lateral performance and stability of four-wheel steering vehicles compared to equivalent front-wheel only steering vehicles.