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