def METHOD_NAME(self, x, y, s0):
    ret = self.__find_nearest_point(s0, x, y)
    s = ret[0][0]
    e = ret[1]
    k   = self.calc_curvature(s)
    yaw = self.calc_yaw(s)
    dxl = self.X(s) - x
    dyl = self.Y(s) - y
    angle = pi_2_pi(yaw - math.atan2(dyl, dxl))
    if angle < 0:
        e*= -1
    return e, k, yaw, s