围绕自动驾驶运动控制，持续整理相关理论、方法与工程实践。
An interactive timing diagram of the periods, phases, and delays among steering-feedback generation, upper-level decision updates, command transmission, and lower-level updates in autonomous lateral control, together with the simplifications this timing abstraction makes relative to a real steering system.
An interactive examination of how closely the oriented arc-length increment of a vehicle trajectory matches the reference-path arc-length increment under different vehicle states.
Defines the vehicle's Frenet state through the closest-point projection of the rear-axle center, derives a three-state time-domain model and a two-state reference-path-arc-length-domain model under the no-sideslip kinematic assumption, and explains arc-length conversion, the coordinate validity domain, and sign conventions for reversing.
Defines the unit tangent, left unit normal, and signed curvature of a planar reference path; derives the Frenet differential relations from both the orthonormal-frame and path-heading representations; and establishes consistent geometric and sign conventions for vehicle kinematics in Frenet coordinates.
An investigation into organizing and composing multi-module configurations in autonomous-driving systems, reproducing experiments, and selecting mature solutions for runtime configuration distribution.