target tracking

The CV and CA models can be used to model the

distance between front and host vehicles, but we don’t

know when a specific model should be used. The

interacting multiple model (IMM) estimator [1] is an

algorithm which can be used to handle such case. In

IMM algorithm, at time k the previous estimates from the

multiple models are mixed based on the mixing

probabilities to generate different mixed initial conditions

for different filters.