A new extending planar model for multi-axles articulated vehicle with nonlinear tire model is presented. This nonlinear multi-axles articulated vehicle model is specifically intended for improving the model performance in operating regimes where tire lateral force is near the point of saturation, and it has the potential to be applied to extend the specific axles model to any representative configuration of articulated vehicles model. At the same time, the extending nonlinear vehicle model can reduce the model's sensitivity to the tire cornering coefficients. Firstly A nonlinear tire model is used in conjunction with the 6-axle planar articulated vehicle model to extend the ranges of the original linear model into the nonlinear regimes of operation. Secondly the performance analysis of proposed nonlinear vehicle model is verified through the double lane change maneuver on different road adhesion coefficient using Trucksim software. As a result the proposed vehicle model shows high accuracy, which provides accurate simulation of the vehicle states on different road adhesion coefficient.