  #!/usr/bin/env python3
  """
  Dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
  
  The state is x = [v, r]^T
  with v lateral speed [m/s], and r rotational speed [rad/s]
  
  The input u is the steering angle [rad]
 
</s> remove     If the speed is too small we can't use the dynamic model (tire slip is undefined),
 </s> add     If the speed is too low we can't use the dynamic model (tire slip is undefined), </s> remove   Ax + Bu = 0 => x = A^{-1} B u
 </s> add   Ax + Bu = 0 => x = -A^{-1} B u </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]
Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
  #!/usr/bin/env python3
  """
Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
  
  The state is x = [v, r]^T
  with v lateral speed [m/s], and r rotational speed [rad/s]
  
  The input u is the steering angle [rad]
keep keep replace keep keep keep keep keep
 Fxing some typos in vehicle_model.py comments (#20220) 
selfdrive/controls/lib/vehicle_model.py