[pontifier]

When I worked on autonomous vehicles I realized that if I really wanted to figure out how to get the vehicle to end up where I wanted, I had to model the actual processes involved. It wasn't actually that difficult. I literally just generated a set of curves that would start with the wheels of a vehicle pointed straight ahead, and tracing the path the car would follow if the steering wheel started being turned at a reasonable rate to a maximum fixed angle, holding it there for some amount of time, then straightening the wheel again. This curve wasn't a simple shape at all, but it didn't matter. It gave the most accurate results. Once the family of curves was generated, I could just select the one that best fit the situation.