We present a novel method to realize monocular visual odometry system. Vehicular kinematic constraints are used in the motion estimation algorithms. By virtue of appropriate simplification, the close-form solution of motion parameters can be obtained only need to find real roots of a cubic equation. We also developed a simulation platform conducted by CarSim and Matlab to validate the performance of our visual odometry algorithm. Real-time vehicle status parameters including velocity, pitch, roll and yaw are generated by CarSim, meanwhile the positions of the car are also recorded and used as ground truth. Experiments on both simulation platform and real car test achieved promising results.