采用的是脉冲对消法，matlab编写的元胞自动机，IMC-PID是利用内模控制原理来对PID参数进行计算，D-S证据理论数据融合，包含CV、CA、Single、当前、恒转弯速率、转弯模型，均值便宜跟踪的示例。- It uses a pulse of consumer law, matlab prepared cellular automata, The IMC- PID is using the internal model control principle for PID parameters is calculated, D-S evidence theory data fusion, It contains CV, CA, Single, current, constant turn rate, turning model, Example tracking mean cheap.