How to compute the ackermann control

[ArtlyStyles]

I have built a MIT-RACEcar and am using it for a fixed track race. I have my own particle filter which can localize the car. Once I know where I am, I can use pure pursuit to find the next target on the track. However, I do not know how to send out the ackermann control parameters. For example, I am currently at location (x1, y1), my near term target is (x2, y2). How can I compute the speed and steering angle from these two locations?

Since MIT-RACEcar has been used to race in the tunnel, it must have some code like this. Could anyone point me the location of the algorithm?