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.