Deployment of an Ackermann-Drive Car

[W00ch]

Hello author,

I encountered a problem when deploying far-planner. Our car is an Ackermann-drive car with a maximum steering angle of 45 degrees. Therefore, when moving along the path planned according to the code, the planned turning angle may be greater than the steering angle of the car, causing the car to be unable to turn to the predetermined path and stop in place. I checked the config/default.yaml file in far-planner. How can I set the parameters? One solution I thought of is to let the car detect the intersection in advance and plan the turning path in advance. I look forward to your reply, thank you.