Determining vehicle position using sideslip vector

One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, perform operations comprising:

• determining a heading vector associated with a vehicle based at least in part on a position of the vehicle in an environment, wherein the heading vector comprises a heading direction;
• determining a sideslip vector associated with the vehicle based at least in part on a direction of motion of the vehicle and a velocity, wherein the sideslip vector comprises a sideslip direction that is different from the heading direction;
• determining a curvature associated with the vehicle by:
• determining a predicted heading vector associated with the vehicle based at least in part on a predicted position of the vehicle;
• determining a predicted sideslip vector associated with the vehicle based at least in part on a predicted direction of motion of the vehicle and a predicted velocity;
• and
• determining the curvature based at least in part on a difference between the predicted sideslip vector and the sideslip vector and a difference between the predicted heading vector and the heading vector;
• determining a path for traversing the environment based at least in part on the curvature;
• and
• providing the path to a vehicle trajectory determination system.

A method comprising:

• determining a position of a vehicle in an environment,
• determining a heading direction for the vehicle based at least in part on the position;
• determining a sideslip vector for the vehicle based at least in part on a direction of motion of the vehicle and a velocity, wherein the direction of motion of the vehicle is different from the heading direction;
• determining a curvature associated with the vehicle by:
• determining a predicted heading direction for the vehicle based at least in part on a predicted position of the vehicle;
• determining a predicted sideslip vector for the vehicle based at least in part on a predicted direction of motion of the vehicle and a predicted velocity;
• and
• determining the curvature based at least in part on a difference between the predicted sideslip vector and the sideslip vector and a difference between the predicted heading direction and the heading direction;
• determining a path for traversing the environment based at least in part on the curvature;
• and
• controlling the vehicle based at least in part on the path.