Design of Interacting Multiple Model with Unscented Kalman Filter for V2X Test

For testing the safety related V2X applications under the background of large-scale deployment which is likely in near future, it is necessary for utilizing simulation method in head of these thoughts become available. In order to use the simulation results to verify the whole design, there are various subsystem in the process should be involved in test. The tracking system is one of the most essential subsystems which is applied to monitor the real vehicles' movement in real time and support the states calculation for virtual vehicles in a virtual-reality interaction testing system presented by the research team. The original concept of the novel testing system was introduced by part and part, including road map process, information exchange, scenario control and results analysis. The interacting multiple model unscented kalman filter was established for the tracking system to support the scenario application with lots of real vehicles for parallel test. To evaluate the performance of the suggested method, kalman filter, extended kalman filter and particle filter were compared in the structure of interacting multiple model. The influence of the accuracy of road map on the scenario control was discussed also. Finally, the simulation results showed the advantage of suggested algorithm over other methods.