def METHOD_NAME():
    """Plot an example of Stanley steering control on a cubic spline."""
    #  target course
    ax = [0.0, 100.0, 100.0, 50.0, 60.0]
    ay = [0.0, 0.0, -30.0, -20.0, 0.0]
    cx, cy, cyaw, ck, s = cubic_spline_planner.calc_spline_course(
        ax, ay, ds=0.1)
    target_speed = 30.0 / 3.6  # [m/s]
    max_simulation_time = 100.0
    # Initial state
    state = State(x=-0.0, y=5.0, yaw=np.radians(20.0), v=0.0)
    last_idx = len(cx) - 1
    time = 0.0
    x = [state.x]
    y = [state.y]
    yaw = [state.yaw]
    v = [state.v]
    t = [0.0]
    target_idx, _ = calc_target_index(state, cx, cy)
    while max_simulation_time >= time and last_idx > target_idx:
        ai = pid_control(target_speed, state.v)
        di, target_idx = stanley_control(state, cx, cy, cyaw, target_idx)
        state.update(ai, di)
        time += dt
        x.append(state.x)
        y.append(state.y)
        yaw.append(state.yaw)
        v.append(state.v)
        t.append(time)
        if show_animation:  # pragma: no cover
            plt.cla()
            # for stopping simulation with the esc key.
            plt.gcf().canvas.mpl_connect('key_release_event',
                    lambda event: [exit(0) if event.key == 'escape' else None])
            plt.plot(cx, cy, ".r", label="course")
            plt.plot(x, y, "-b", label="trajectory")
            plt.plot(cx[target_idx], cy[target_idx], "xg", label="target")
            plt.axis("equal")
            plt.grid(True)
            plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4])
            plt.pause(0.001)
    # Test
    assert last_idx >= target_idx, "Cannot reach goal"
    if show_animation:  # pragma: no cover
        plt.plot(cx, cy, ".r", label="course")
        plt.plot(x, y, "-b", label="trajectory")
        plt.legend()
        plt.xlabel("x[m]")
        plt.ylabel("y[m]")
        plt.axis("equal")
        plt.grid(True)
        plt.subplots(1)
        plt.plot(t, [iv * 3.6 for iv in v], "-r")
        plt.xlabel("Time[s]")
        plt.ylabel("Speed[km/h]")
        plt.grid(True)
        plt.show()