Ackerman相关概念简介vAckermanvAckerman AnglevAckerman ErrorvIdeal Steer AnglevPercent AckermanAckerman Description：Ackerman is the difference between the left and right wheel steer angles. A positive Ackerman indicates that the right wheel is being steered more to the right than to the left. Units： Degrees Request Names ： ackerman.leftackerman.right Inputs： Steer angle (see Steer Angle) Method：Adams/Car computes Ackerman by subtracting the right steer angle from the left steer angle:ackerman = Right steer angle – Left steer angleAckerman AngleDescription：Ackerman angle is the angle whose tangent is the wheel base divided by the turn radius.Ackerman angle is positivefor right turns. Units： Degrees Request Names ：ackerman_angle.leftackerman_angle.right Inputs：Turn radius (see Turn Radius)Wheelbase Method： ackerman_angle = tan-1(Wheel Base/Turn Radius)Ackerman Error Description： Ackerman error is the difference between the steer angle and the ideal steer anglefor Ackerman geometry. Because Adams/Car uses the inside wheel to compute the turn center, the Ackerman error for the inside wheel is zero.For a left turn, the left wheel is the inside wheel and the right wheel is the outside wheel. Conversely, for a right turn, the right wheel is the inside wheel and the left wheel is the outside wheel. Positive Ackerman error indicates the actual steer angle is greater than the ideal steer angle or the actual is steered more to the right. Units：Degrees Request Names： ackerman_error.leftackerman_error.right Inputs： Steer angle (see Steer Angle)Ideal steer angle (see Ideal Steer Angle) Method： ackerman_error.left = (left steer angle - left ideal steer angle)ackerman_error.right = (right steer angle - right ideal steer angle)Ideal Steer AngleDescription： Ideal steer angle is the steer angle in radians that gives Ackerman steer geometry or 100% Ackerman. For Ackerman steer geometry, the wheel-center axes for all four wheels pass through the turn center. Note that Adams/Car uses the steer angle of the inside wheel to determine the turn center for Ackerman geometry.Therefore, the ideal steer angle and the steer angle are equal for the inside wheel. When making a left turn, the left wheel is the inside wheel. Conversely,when making a right turn, the right wheel is the inside wheel. A positive steer angle indicates a steer to the right. Units Degrees Request Names ideal_steer_angle.left ideal_steer_angle.right InputsTurn radius (see Steer Angle) WheelbaseTire contact patch position (Rp) - left and right Methodideal_steer_angle.left = tan-1 [Wheel Base/Turn Radius - Rp(left) o )]ideal_steer_angle.right = tan-1 [Wheel Base/Turn Radius -Rp(right) o )]Note • Right turns give positive angles and turn radii• Rp(left) o 0• |Inside wheel's ideal steer angle| > |outside wheel's ideal steer angle|Percent Ackerman Description： Percent Ackerman is the ratio of actual Ackerman to ideal Ackerman expressed as a percentage. Percent Ackerman is limited to the range from -999% to 999%.Percent Ackerman is positive when the inside wheel's steer angle is larger than the outside wheel's steer angle. Units： % Request Names： percent_ackerman.left percent_ackerman.right Inputs： Steer angle (see Steer Angle)Ideal steer angle (see Ideal Steer Angle)Ackerman (see Ackerman) Method：ackerman = Right steer angle - Left steer angleideal_ackerman = Right ideal steer angle - Left ideal steer anglepercent_ackerman = 100 x Ackerman/Ideal Ackerman。