  Steering torque is a very important quantity for the driver feeling. In fact,
it gives the driver an idea of the road adherence condition during driving.
Several models have been developed to simulate shear forces at the contact
patch, most of them are based on semi-empirical tire models that account for
slip and slip angles. They have good reliability when speed is high enough. At
very low speed, like in parking, these models suffer from both reliability and
numerical issues. This paper presents a model to compute the steering moment
due to contact-patch friction at any longitudinal speed including pivot
steering condition. In particular, it supplements the pivot steering model with
a novel exponential decay of moment model to simulate for various rolling
speeds of the wheel. The decay rate found to be dependent upon contact-patch
geometry and rolling speed.
