基于LQR方法的直线路径跟踪，输入为期望直线路径，输出为左右推进器控制命令-LQR method based on a linear path tracing, enter the desired straight path, the output is about propulsion control commands

通过纵向速度控制与侧向路径跟随，实现车辆轨迹跟踪功能(Through longitudinal speed control and lateral path following, the function of vehicle trajectory tracking is realized)