How to allocate resources following feudal age?

I find that follow the build orders relatively well (still needs some work), but after I advanced to feudal I know where to put my next two or three villagers and that's it.

After that I don't know where I should send my villagers, I'll usually go with food and wood with the occasional towards gold or stone, but is there a better way?

I feel like I'm falling behind late. My early game isn't terrible, but I feel like I get snowballed about 25-30 minutes in.

FYI, I'm not a good player, been practicing against the hard AI.