The Science of Vehicle Dynamics

Driving a vehicle to make a turn amounts, roughly speaking, at forcing it to follow a path with variable radius of curvature.
The traditional approach looks only at the kinematics for a given instant of time. This is a good starting point, but not the whole story.
To monitor whether a vehicle is performing well, or not so well, we can consider the fixed and moving centrodes,
along with the inflection circle.
Indeed, the position of the velocity center C changes continuously in time, thus tracing the two centrodes.
Therefore, the two centrodes contain all the geometric features of the kinematics of a turning vehicle.
Symbols are defined in the book The Science of Vehicle Dynamics.