Experiment 1 steady-state offset on a circle
Pure pursuit is exact on a circle for a kinematic car, but a real car needs slip angles to turn, so it settles on a different circle. Prediction: the steady-turn force balance solved together with each steering law. Measurement: the time-domain simulation.
Experiment 2 maximum stable speed vs latency
Straight lane, 0.5 m start offset. For each steering delay a bisection finds the highest speed at which the error still decays. Linearising pure pursuit with a pure delay gives vmax = 0.52 Ld / (tau + 0.024 s).