> For the complete documentation index, see [llms.txt](https://2023.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2023.istvs.org/submissions/papers/3835.md). # 3835 / Effect of steer angle rate upon tyre lateral force generation on two different soils Paper presented at the 16th European-African Regional Conference of the ISTVS Title: Effect of steer angle rate upon tyre lateral force generation on two different soils Authors: Dawid Tatarynow, Michał Kuszneruk, Piotr Budzyński, Jarosław Pytka, and Paweł Tomiło Abstract: The mechanism of formation and the characteristics of the tyre lateral force play an important role in terms of driving dynamics, safety and comfort. In the case of an off-road vehicle, the generation of tyre lateral force is, among others, dependent on the soil. The effects of the three-phase nature of the soil medium may cause the characteristics of the lateral force build-up to be degressive or progressive. Experimental research was undertaken to determine tyre lateral force on the steered wheel of the Suzuki Vitara off-road vehicle driven on loess and sandy soil as well as on wet snow. The vehicle was equipped with rotating wheel dynamometers and a steering robot. The measurement of the lateral force was carried out for three values of the steer angle rate, δ: 100, 500 and 1500 deg/sec. Based on the obtained results, FY(δ) characteristics were obtained and further analyzed in order to determine the mathematical function describing the investigated mechanism of tyre – soil interaction. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters: ``` GET https://2023.istvs.org/submissions/papers/3835.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.