算法优化非常好，几乎没有循环，包含CV、CA、Single、当前、恒转弯速率、转弯模型，最大似然（ML）准则和最大后验概率（MAP）准则。- Algorithm optimization is very good, almost no circulation, It contains CV, CA, Single, current, constant turn rate, turning model, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion.