A kinematics characteristic of unmanned driving vehicle based on Ackerman principle was analyzed in this paper， and then the kinematics model was set up。 Considering that the vehicle is influenced by different errors such as: side slip， brake or slider， nonholonomic restriction of vehicle is always destroyed， then analyzing this instance and setting up kinematics model of vehicle considering error。 Math formulas about turning angle， direction angle and turning radius were given to declare the movement status of robot， mapping error vector from local coordinate frame to global coordinate frame。 Finally， the conclusion was validated through the simulation experiment。
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