tune the parameters of stanily control method for autonomous vehicle

lane tracking control

control phi: 0-0.5 turn left; 0.5-1 turn right. RC vehicle 

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• TSM Stability Management to harness the power without sacrificing fun
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• Battery and charger sold separately
• Traxxas Link wireless compatible TQi 2.4GHz radio

(1) small angle with large offset distance.

 control : turn left, phi<0.5, offset to center line

small angle with large distance. we should limit the control value.,such as [0.45, 0.55]

lost the center line

if we use the previos result to control, it will lose object. some the lose object times should be counted and turn around to find the lane.