def _pos_on_lane(vehicle) -> Tuple:
        """
        Recalculate cam place
        :param vehicle: BaseVehicle
        :return: position on the center lane
        """
        if vehicle.navigation.current_ref_lanes is None:
            raise ValueError("No routing module, I don't know which lane to follow")

        lane = vehicle.navigation.current_ref_lanes[0]
        lane_num = len(vehicle.navigation.current_ref_lanes)

        longitude, _ = lane.local_coordinates(vehicle.position)
        lateral = lane_num * lane.width / 2 - lane.width / 2
        return longitude, lateral

        Recalculate cam place
        :param vehicle: BaseVehicle
        :return: position on the center lane
        
metadrive/engine/core/main_camera.py