The Science of Vehicle Dynamics - M. Guiggiani

A central issue in vehicle dynamics is how a vehicle responds to the driver input commands
(namely, the steering wheel angle δv and the forward speed u. Well, let us map it.
The plane (δ,ρ), i.e., (wheel steer angle, trajectory curvature), suits the purpose.
Many more details on the new global approach MAP (Map of Achievable Performance)
in the book The Science of Vehicle Dynamics.