We built a car model with Ackerman steering type for line following task. The distance between rear and front wheels' axes was about 42 cm. Then we tuned PID controller (really just PD: Kp = 0.9, Ki = 0.0 and Kd = 0.2). A deviation from line in pixels captured by forward looking camera is directly sent to the PID controller and the result is a steering angle.
But recently we had to shorten our car to allow it to pass rounded corners. We shortened the distance between wheels' axes by about 15 cm.
It took us so long to tune the PID controller the previous time so we just want to adjust the PID values according to some Ackerman kinematic model. Is there any way to do this?