  
    def steady_state_sol(self, sa: float, u: float) -> np.ndarray:
      """Returns the steady state solution.
  
      If the speed is too small we can't use the dynamic model (tire slip is undefined),
      we then have to use the kinematic model
  
      Args:
        sa: Steering wheel angle [rad]
        u: Speed [m/s]
 
</s> remove   Ax + Bu = 0 => x = A^{-1} B u
 </s> add   Ax + Bu = 0 => x = -A^{-1} B u </s> remove Dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
 </s> add Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani" </s> remove     cF: Tire stiffnes Front [N/rad]
    cR: Tire stiffnes Front [N/rad]
 </s> add     cF: Tire stiffness Front [N/rad]
    cR: Tire stiffness Front [N/rad]
    If the speed is too low we can't use the dynamic model (tire slip is undefined),
  
    def steady_state_sol(self, sa: float, u: float) -> np.ndarray:
      """Returns the steady state solution.
  
    If the speed is too low we can't use the dynamic model (tire slip is undefined),
      we then have to use the kinematic model
  
      Args:
        sa: Steering wheel angle [rad]
        u: Speed [m/s]
keep keep keep keep replace keep keep keep keep keep
 Fxing some typos in vehicle_model.py comments (#20220) 
selfdrive/controls/lib/vehicle_model.py