You can refer to the links below for vehicle modelling using simscape:
- https://blogs.mathworks.com/racing-lounge/2018/02/28/vehicle-modeling-simscape-language/?s_tid=answers_rc2-1_p4_Topic
- https://in.mathworks.com/help/vdynblks/ug/vehicle-dynamics-blockset-project-templates.html?s_tid=answers_rc2-3_p6_Topic
Hope this helps.