Cooperative Vehicle Tracking using SMC-PHD Integrated with Interacting Multiple Models

Recently, multi-target tracking has played an important role in the perception of autonomous driving. V2V communication vehicle collaboration becomes a solution. However, the environmental impact of high-precision GNSS (Global Navigation Satellite System) greatly affects the tracking accuracy. In this paper, an improved IMM-SMCPHD is proposed to solve this problem, and it is verified by simulation that it is improved than the basic SMCPHD.