【控制】Stanley 前轮反馈控制法

https://zhuanlan.zhihu.com/p/495204165

https://zhuanlan.zhihu.com/p/518318446

https://blog.csdn.net/renyushuai900/article/details/98460758?spm=1001.2101.3001.6650.6&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-6-98460758-blog-124210501.pc_relevant_antiscanv2&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-6-98460758-blog-124210501.pc_relevant_antiscanv2&utm_relevant_index=7

https://blog.csdn.net/huangxiaoyanger/article/details/124695472

https://blog.51cto.com/u_15482442/5110868

https://blog.csdn.net/weixin_42301220/article/details/124899547                   // ？？？ 公式 2 3 是如何推导来？

https://blog.csdn.net/zxxxxxxy/article/details/103665245?spm=1001.2101.3001.6650.4&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-4-103665245-blog-124899547.pc_relevant_multi_platform_whitelistv5&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-4-103665245-blog-124899547.pc_relevant_multi_platform_whitelistv5&utm_relevant_index=6

 

根据前面介绍的阿克曼车辆动力学模型，通过三角形关系求解，可以得到前轮转角的公式如下：