An Exponential Decay Model for Decaying of Contact Patch Friction Steering Moment with Rolling Speed

• Steering Moment Factors: Key influencers include tire torsion, sideslip, steering system friction, and jacking forces.
• Model Accuracy: Proposed model improves accuracy by addressing low-speed shear force discrepancies, with exponential decay rate linked to rolling speed and contact patch length.
• Practical Applications: Enhances steering feedback in teleoperation, informs steer-by-wire and electric power steering designs, and provides realistic feedback in vehicle simulators.