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This study was performed to investigate tractor yaw dynamics for application in a tractor driving simulator. Tractor yaw rate was measured at different forward speeds in response to a range of steer angle input frequencies. Tire cornering stiffness and relaxation length values were estimated using a system identification approach. Analysis shows that the bicycle model accurately predicted tractor yaw rate at low steer angle frequencies. At higher frequencies, though, the consideration of tire relaxation length was necessary. Sensitivity of the model to estimation of tire parameters was also discussed.