Abstract: Based on a new metro vehicle with design speed of 120 km/h, the multi-body dynamics software SIMPACK is used to model the bogie, and the critical speeds of the vehicle before and after installing yaw damper under the condition of worn wheel is simulated and analyzed. The rolling vibration dynamics test of this bogie is carried out on the rolling vibration test rig, and the vehicle stability before and after installing yaw damper is compared. Research results show that under the condition of wheel wear, the critical speed is higher than 160 km/h when yaw damper is installed; when the yaw damper is not installed, the critical speed is lower than 120 km/h. It is proven that the installation of yaw damper can significantly improve vehicle stability after wheel wear.