This study aimed to develop an advanced bicycle simulator by constructing a sophisticated six-degree-of-freedom mathematical model, incorporating the three rotational angles—Yaw, Pitch, and Roll—and examining their effects on vertical, lateral, and longitudinal dynamics. This enhanced simulator and mathematical model will facilitate in-depth investigations into bicycle dynamics, cyclist behaviors, and interactions with both infrastructure and other road users. The research findings will contribute to the design of bicycle suspension systems that enhance comfort and improve pedaling efficiency. Specifically, the study explores the optimization of front and rear suspensions to maximize rider comfort and pedaling effort on both rough and smooth terrains. Additionally, the study utilized Advanced Driver Assistance Systems (ADAS) software alongside Matlab and Simulink to enhance driver safety by developing a model-based system. This system aims to efficiently translate mathematical models into code with minimal errors. Furthermore, it facilitates the creation of scenarios where bicycles act as dynamic obstacles to cars, testing the system’s responsiveness and accuracy in real-world simulations.