车辆动力学dynamics model

参考：https://zhuanlan.zhihu.com/p/103834150

需求是，通过RWA 获得求得轮胎侧偏角，车辆滑移角， 获得曲率 基于后轴。

beta= vehicle slip angle (vs wheelbase)

alpha_f/r = tire slip angle (tire speed vs tire central line) --后轮未画出。！

Tire speed:

Control input:

delta_f/r = tire  steering angle(Road wheel angle RWA) ~ ratio ~ hand steering wheel angle(HWA) 

一般车辆delta_r 不能转动=0

Measurement variables:

V= vehicle speed ≠ tire speed direction

omega =yawRate

Vehicle permanent parameters(intrinsic parameter)

heading angle (by front camera via lane marking)