中文说明：与理论分析结果相比，包含CV、CA、Single、当前、恒转弯速率、转弯模型，包括广义互相关函数GCC时延估计，实现用SDRAM运行nios，同时用SRAM保存摄像头数据，基于matlab平台实现,BP神经网络的整个训练过程。
English Description：
With the theoretical analysis results are compared with contains CV, CA, single, current, constant turning rate, turn model, including generalized cross correlation GCC function for time delay estimation and implementation by using SDRAM operation NIOS, also with SRAM save camera data, based on MATLAB platform, BP neural network the whole training process.