The yaw angle is the difference in direction between the direction of movement and the direction in which the car is pointing. A few similar topics that may go hand in hand with this study are the roll and pitch angles of the vehicle. The yaw angle is about the rotation in the z-axis (vertical axis), the roll angle is about the rotation in the x-axis (through front of the car and out the tailgate), and the pitch angle is along the y-axis (from the right car doors to the left car doors). All axis pass through the centre center of mass of the vehicle.
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Yaw specifically comes into play when cornering or when cross-winds are introduced. The greater the yaw angle is the sharper the car turns.
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You might be asking what does lift have to do with cars. As air moves faster around the car the a lift force is produced lifting the tip of the car off the ground as gravity is negated. We aren't building a plane so it’s probably a good idea that our vehicle doesn’t leave the ground at any point. There are a couple ways to counter this. One way being keeping the cars low to the ground will allow less air to flow underneath the vehicle thus negating the effects of lift. Another way is to just drive faster to produce a ground effect.
Another interesting and relevant topic that came up in my research is the a study that was done on rear slant angles in a wind tunnel. Here is a figure displaying the different aero bodies that were tested.
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Below are a few tables with results from the simulations performed for this study.
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This study can be found at this link if you are interested in seeing some of the math done to get these results: https://jeaconf.org/UploadedFiles/Document/d86c5fa8-2e77-4d47-b51d-5926832848ef.pdf
The study concluded that a 20 degree rear slant angle had the highest rating of crosswind sensitivity and a 0 degree model had the least.
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