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β is vehicle sideslip (angle between velocity and vehicle forward vector) ψ the angle between the trajectory tangent and vehicle forward vector. I have this equation that says

Vx * k * (cos ψ - tan β * sin ψ)

where k is trajectory curvature (1 / r) at point p.

Now i must say that i'm not proficient with compound angles at all, so i'm struggling to understand if everything inside the parenthesis is basically a compound angle. Moreover i'm struggling to visualize its geometric meaning.

Can anyone try to help me out with this one?

(I believe that k just acts as a multiplier according to the curvature so it's not the problem itself)

Thanks in advance

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# I Is this a compound angle? What's the geometric meaning?

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