: Soil is the upper part of the ground which is affected by organisms, water, wind, and climate, and thus, is to some extent continuously transformed. The soil can also be regarded as the part of the ground used by plant roots, and thus, constitutes the basis for plant growth. In Mother Nature, we see many different shapes that to a large extent depend on the soil properties. Changing the physical and chemical properties of a soil might have a negative influence on the environment, mainly in the flora, fauna, and trees. Furthermore, increasing demands for more gentle techniques and technologies with less negative impact on the environment ask for development and implementation of new processes and new machine solutions. The increasing interest in developing agriculture management approaches that are based on gentleness to the environment requires better understanding of the interaction between the off-road heavy vehicle and the terrain in the working process.