You likely want to implement your model using the Ackerman steering model: https://en.wikipedia.org/wiki/Ackermann_steering_geometry
With this model, you are controlling one wheel speed and one steering angle, as opposed to two wheel speeds in the differential drive model. I am sure you can find a model online.
Also, stopping at a red light has nothing to do with CAN, which is a communications protocol. Maybe you want to be doing some kind of image processing/computer vision to detect traffic lights?
- Sebastian
