understeering vehicle:
Adhesion limit is first exceeded with front axle
-> decrease of side slip angle
-> reduction of the tire slip angle at the rear axle
-> decrease of lateral forces on rear axle
-> stabilization of vehicle on larger radius
less lateral acceleration)

oversteering vehicle:
Adhesion limit is first exceeded with rear axle
-> rise of tire slip angle at rear axle
-> rise of side slip angle
-> increase of swerving tendency of vehicle
-> stabilization only by quick reduction of steering
wheel angle

=> Design towards slightly understeering behaviour