采用的是脉冲对消法，包含位置式PID算法、积分分离式PID，进行逐步线性回归，是机器学习的例程，包含CV、CA、Single、当前、恒转弯速率、转弯模型。- It uses a pulse of consumer law, It contains positional PID algorithm, integral separate PID, Stepwise linear regression, Machine learning routines, It contains CV, CA, Single, current, constant turn rate, turning model.