Ackerman steering reduces the amount the wheels are scrubbed when turning, this should, in principle, make the car handle better.
In principle, we could implement this geometrically by having a desired given turning radius. However this isn't like most road cars, we should have both an "ideal" low speed turning radius and an ackermann percentage.
https://www.racecar-engineering.com/articles/tech-explained-ackermann-steering-geometry/
In general, ackermann also depends on toe, which we currently do not implement.
Ackerman steering reduces the amount the wheels are scrubbed when turning, this should, in principle, make the car handle better.
In principle, we could implement this geometrically by having a desired given turning radius. However this isn't like most road cars, we should have both an "ideal" low speed turning radius and an ackermann percentage.
https://www.racecar-engineering.com/articles/tech-explained-ackermann-steering-geometry/
In general, ackermann also depends on toe, which we currently do not implement.