[bananasbandanas]

We opted not to use a tire model at all, because we weren't sure how well something like Pacejka would transfer to model-size.

Instead, we built an empirical transfer function from (target yaw rate, speed) -> steering wheel angle. To get to this function, we measured the yaw rate during a steady-state circular test at different speeds and steering wheel angles. Then do some kind of regression to get a continuous function. During the test, also eyeball when the tires start to slip, then use this to limit max lateral velocity.

Of course this does not take into account changing tire conditions at all. We thought about estimating the slip angle from CV or using controller oscillations as indicators, but never got around to it.