1. Rigid-wheel cornering kinematics
Warning: all reference points used will be direct orthonormal.
Although there are no longer any classic rigid-wheeled automotive land vehicles, this chapter serves several purposes. The first is that a rigid-wheeled vehicle is kinematically determined (a concept explained later), unlike a vehicle with deformable wheels whose dynamics have a considerable influence on positioning, as will be seen later. Secondly, because a so-called neutral vehicle (definition seen later) behaves like a rigid-wheeled vehicle.
1.1 Basic diagram
Schematization requires experience to find the kinematic model that's just what's needed to understand the phenomenon. For our purposes, the vehicle will be seen as a "soapbox", i.e. reduced to its simplest form....
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Rigid-wheel cornering kinematics
Ground-wheel contact with tires: drift phenomenon
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