In order to model the way that the car responds to bumps in the road, as well as acceleration and cornering, we need to have some sort of model of the suspension of the car.
We need to decide how accurately to model the suspension of the car. Do we need to model every detail? How much air in the tyres?
One possibility is to represent the car as a spring-mass-damper model. This needs to be done in 3 dimensions so that we can represent rotation as well as linear up and down movement.
For theory see spring-mass-damper model.