Reference:
    https://github.com/darienmt/CarND-MPC-Project-P5


Kinematic model:
    x[t] = x[t-1] + v[t-1] * cos(psi[t-1]) * dt
    y[t] = y[t-1] + v[t-1] * sin(psi[t-1]) * dt
    psi[t] = psi[t-1] + v[t-1] / Lf * delta[t-1] * dt
    v[t] = v[t-1] + a[t-1] * dt
    cte[t] = f(x[t-1]) - y[t-1] + v[t-1] * sin(epsi[t-1]) * dt
    epsi[t] = psi[t] - psi[t-1] + v[t-1] * delta[t-1] / Lf * dt
      where:
        x, y : Car's position
        psi : Car's heading direction  
        v : Car's velocity
        cte : Cross-track error
        epsi : Orientation error


视频展示:
   GoogleDrive:
    https://drive.google.com/open?id=1gETWosieQwrqf_ETh6eX5eH-9yi255QO
   云盘:
    https://www.jianguoyun.com/p/DTgIBV8QvsmaCBjHq_UC