def METHOD_NAME(self, acceleration, delta):
    """
    Update the state of the vehicle.
    Stanley Control uses bicycle model.
    :param acceleration: (float) Acceleration
    :param delta: (float) Steering
    """
    delta = np.clip(delta, -max_steer, max_steer)
    self.x += self.v * np.cos(self.yaw) * dt
    self.y += self.v * np.sin(self.yaw) * dt
    self.yaw += self.v / L * np.tan(delta) * dt
    self.yaw = normalize_angle(self.yaw)
    self.v += acceleration * dt