well... inertia wants the car to go straight, and the Frictional force is working against the cars motion to pull the car inward (understeer being when the Ff becomes less than the needed amount, causing inertia to be able to act more prominently). The same happens inside the car, your momentum with inertia wants you to keep going straight (in relation to the corner), whereas the seatbelt (tension) or the friction force (the seat) wants to keep you going around.
I dunno, I'm learning this sort of stuff in physics, the (basic) equations relating to centripetal acceleration, centripetal force (which is a "carried" force, meaning that it needs to piggyback on another force, such as Gravity, friction or tension)... Like... I'm likely just wording it poorly, but the theory behind it is:
Going around a corner, your momentum wants you to go straight, so Friction must work against your velocity to pull you around the corner, with a gravity force keeping you on the road, and a normal force keeping you from plummeting to the centre of the earth.
Your person inside the car, also wants to keep going straight around a corner, yet the Friction from the tyres is pulling you around the corner (carrying the centripetal force), and then there's friction under the seat of your pants, keeping you in your seat.
However, once the frictional force is less than your inertia, you begin to slide towards the outside of the corner, being stopped only once another force is acting in the same direction of friction, such as a seatbelt, or a normal force (the car door).
In hind-sight, maybe inertia isn't the best word, more like your momentum, or once your Centripetal force is greater than the frictional force.
you should however be able to understand the general concept.