1.纯跟踪算法
compute_wheel2 = atan(2 * Vehicle_length * sin(pid_yaw) / (k * 2 / 3.6 + Lf)) * 57.3 # Lf 为预瞄距离
https://blog.csdn.net/adamshan/article/details/80555174
2.standly算法
δ(t)=θe?(t)+atan(ke(t)/v(t)?) # k是系数，θe?(t)是航向偏差，e(t) 是横向偏差， v(t)?是速度
https://blog.csdn.net/renyushuai900/article/details/98460758
原文：https://www.cnblogs.com/yang220/p/12401335.html