Typical motion-based modelling and tracking for vehicle targets in linear road segment

In this paper, a typical motion-based modelling and tracking issue is investigated for vehicle targets in linear road segment by a variable structure multiple model (VSMM) method. Vehicle target motions in a road with multiple lanes are described by typical lane keeping and lane changing manoeuvres. To describe trajectories of typical manoeuvres, an Ornstein–Uhlenbeck process and a sine half-cycle are used to model lane keeping and lane changing motions in lateral direction, respectively. Note that starting point and length of lane changing motion are unknown in target tracking. Time-varying model sets are designed based on the current motion model with different motion parameters. A VSMM tracking frame is constructed to obtain target state estimates with time-varying model set. The effectiveness of the proposed typical motion-based tracking scheme is displayed by simulation results on road vehicle tracking.