In my opinion you should look first to Pacejka book ( dutch expert in tire modelling and vehicle dynamics).

Then you can first model the car by a 2wheel model ( front and rear) and then implement it with some none linearities in the tire model).

For the driver model and path tracking, Mc Gruer model is the simplest and is well adapted for the begining.

recently, I watched some simulink webinar videos on mathwork website, it really helps. Pay more attention to simScape and related tools like simHydraulic ,simMechanics