IMM Filtering for Vehicle Tracking in Cluttered Environments with Glint Noise

A radar system for tracking ground vehicle targets to realize adaptive cruise control requires an accurate vehicle tracking filter. Especially, for ground vehicle tracking, one has to consider the case in which the radar measurements are affected by glint noises generated by the targets located near the observer vehicle. Furthermore, this vehicle tracking should be performed in cluttered environments. This paper presents a combined algorithm that consists of integrated probabilistic data association (IPDA), and an interacting multiple model (IMM) algorithm for ground target tracking in clutter and target glint. Performance of the proposed algorithm is tested and verified by a series of computer simulation runs.