Yeah, the model is definitely contrived and I could try adding a lot more to it, but I still found it very useful just to understand how the path changes with t

Yeah, the model is definitely contrived and I could try adding a lot more to it, but I still found it very useful just to understand how the path changes with the wheel turn. Also, as a beginner, it's very hard to "feel" how much you're supposed to turn with variable rate — I guess this only comes with a ton of practice. In the driving school, the way we were taught all the parking maneuvers is to reverse straight until you catch some reference point, then immediately turn to the max for the sharpest turn.