该方法采用动力学模型对车辆运动进行描述，考虑了车体运动与车轮速率、转向角之间的关系，比用线性模型更符合车辆实际行驶时的复杂运动状况。

For the mobile case, a dynamic model of the vehicle motion, which takes account of the relationship between the rigid body motion of vehicle and the steering and drive rates of wheels, is adopted.

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汽车以每一小时八十千米的速率行驶。

The car goes at eighty miles an hour.

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汽车以每小时八十千米的速率行驶。

The car goes at eighty miles an hour.

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For example, if a car is going on a racetrack and you're seeing it from the top, if the speedometer says 60 miles per hour, you might say it's not accelerating.

例如,如果一辆车在跑道上行驶,你从上面俯视它,如果速率表显示的是60英里每小时,你也许会说它没有在加速

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