control: minor refactor in latteral control
control: minor refactor in latteral control

jinghaomiao/apollo,jinghaomiao/apollo,ApolloAuto/apollo,ApolloAuto/apollo,ycool/apollo,ApolloAuto/apollo,xiaoxq/apollo,jinghaomiao/apollo,ycool/apollo,jinghaomiao/apollo,xiaoxq/apollo,ycool/apollo,xiaoxq/apollo,ApolloAuto/apollo,ycool/apollo,xiaoxq/apollo,ApolloAuto/apollo,ycool/apollo,xiaoxq/apollo,jinghaomiao/apollo,jinghaomiao/apollo,ApolloAuto/apollo,xiaoxq/apollo,ycool/apollo