(a) Yaw rate response when speed is 5m/s.
(b) Slip angle when tire steering angle is .
(c) Yaw rate response when speed is 15m/s.
(d) Slip angle when tire steering angle is .
(e) Yaw rate response when speed is 25m/s.
(f) Slip angle when tire steering angle is .
Figure 12: The comparison of simulation results.