def METHOD_NAME(x,y,psi,v,filename='LMS_Track.txt'):
    [sref,xref,yref,psiref,_]=getTrack(filename=filename)
    idxmindist=findClosestPoint(x,y,xref,yref)
    idxmindist2=findClosestNeighbour(x,y,xref,yref,idxmindist)
    t=findProjection(x,y,xref,yref,sref,idxmindist,idxmindist2)
    s0=(1-t)*sref[idxmindist]+t*sref[idxmindist2]
    x0=(1-t)*xref[idxmindist]+t*xref[idxmindist2]
    y0=(1-t)*yref[idxmindist]+t*yref[idxmindist2]
    psi0=(1-t)*psiref[idxmindist]+t*psiref[idxmindist2]
    s=s0
    n=np.cos(psi0)*(y-y0)-np.sin(psi0)*(x-x0)
    alpha=psi-psi0
    v=v
    return s,n,alpha,v