def METHOD_NAME():
    print("rear wheel feedback tracking start!!")
    ax = [0.0, 6.0, 12.5, 5.0, 7.5, 3.0, -1.0]
    ay = [0.0, 0.0, 5.0, 6.5, 3.0, 5.0, -2.0]
    goal = [ax[-1], ay[-1]]
    reference_path = CubicSplinePath(ax, ay)
    s = np.arange(0, reference_path.length, 0.1)
    t, x, y, yaw, v, goal_flag = simulate(reference_path, goal)
    # Test
    assert goal_flag, "Cannot goal"
    if show_animation:  # pragma: no cover
        plt.close()
        plt.subplots(1)
        plt.plot(ax, ay, "xb", label="input")
        plt.plot(reference_path.X(s), reference_path.Y(s), "-r", label="spline")
        plt.plot(x, y, "-g", label="tracking")
        plt.grid(True)
        plt.axis("equal")
        plt.xlabel("x[m]")
        plt.ylabel("y[m]")
        plt.legend()
        plt.subplots(1)
        plt.plot(s, np.rad2deg(reference_path.calc_yaw(s)), "-r", label="yaw")
        plt.grid(True)
        plt.legend()
        plt.xlabel("line length[m]")
        plt.ylabel("yaw angle[deg]")
        plt.subplots(1)
        plt.plot(s, reference_path.calc_curvature(s), "-r", label="curvature")
        plt.grid(True)
        plt.legend()
        plt.xlabel("line length[m]")
        plt.ylabel("curvature [1/m]")
        plt.show()