With Abe (Chapter 5): You calculate the Stability Factor $K$. $$ K = \fracW_fC_f - \fracW_rC_r $$ If the weight on the front ($W_f$) is high and the front tire stiffness ($C_f$) is low, $K$ becomes large positive (Understeer). The car slows down naturally through the turn. Safe. If $K$ is negative (Oversteer), the car requires opposite lock to prevent a spin. Dangerous.
Title: An Analysis of Vehicle Handling Dynamics and Control Systems 1. Introduction vehicle handling dynamics masato abe pdf
Masato Abe's Vehicle Handling Dynamics: Theory and Application With Abe (Chapter 5): You calculate the Stability Factor $K$