code: def _parse_vehicle_keys(self, keys, milliseconds):
      if keys[K_UP] or keys[K_w]:
          self._control.throttle = min(self._control.throttle + 0.2, 1)
      else:
          self._control.throttle = max(self._control.throttle - 0.2, 0)
  
      if keys[K_DOWN] or keys[K_s]:
          self._control.brake = min(self._control.brake + 0.2, 1)
      else:
          self._control.brake = max(self._control.brake - 0.2, 0)
  
      steer_increment = 5e-4 * milliseconds
      if keys[K_LEFT] or keys[K_a]:
          if self._steer_cache > 0:
              self._steer_cache = 0
          else:
              self._steer_cache -= steer_increment
      elif keys[K_RIGHT] or keys[K_d]:
          if self._steer_cache < 0:
              self._steer_cache = 0
          else:
              self._steer_cache += steer_increment
      elif self._steer_cache > 0:
          self._steer_cache = max(
              self._steer_cache - steer_increment, 0.0
          )
      elif self._steer_cache < 0:
          self._steer_cache = min(
              self._steer_cache + steer_increment, 0.0
          )
      else:
          self._steer_cache = 0
  
      self._steer_cache = min(1.0, max(-1.0, self._steer_cache))
      self._control.steer = round(self._steer_cache, 1)
      self._control.hand_brake = keys[K_SPACE]
  
imports: from __future__ import print_function
  import glob
  import os
  import sys
  import signal
  import carla
  from carla import ColorConverter
  import argparse
  import logging
  import math
  import random
  import weakref
  from rss_sensor import RssSensor
  from rss_visualization import RssUnstructuredSceneVisualizer, RssBoundingBoxVisualizer, RssStateVisualizer
label_desc: Use image node_id 5 for calling the VehicleControl obj's underlying member method code with example usage: obj._parse_vehicle_keys(keys, milliseconds) without return types