Table of Contents
International Journal of Vehicular Technology
Volume 2011 (2011), Article ID 103696, 8 pages
Research Article

Trajectory Generation Model-Based IMM Tracking for Safe Driving in Intersection Scenario

1Transportation Research Center, Wuhan University, Wuhan, Hubei 430072, China
2National Engineering Research Center for Multimedia Software, Wuhan University, Wuhan, Hubei 430072, China

Received 1 August 2010; Accepted 23 November 2010

Academic Editor: Hwangjun Song

Copyright © 2011 Tingting Zhou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Tracking the actions of vehicles at crossroads and planning safe trajectories will be an effective method to reduce the rate of traffic accident at intersections. It is to resolve the problem of the abrupt change because of the existence of drivers' voluntary choices. In this paper, we make approach of an improved IMM tracking method based on trajectory generation, abstracted by trajectory generation algorithm, to improve this situation. Because of the similarity between human-driving trajectory and programming trajectory which is generated by trajectory-generated algorithm, the improved IMM method performs well in tracking moving vehicles with some sudden changes of its movement. A set of data is collected for experiments when an object vehicle takes a sudden left turn in intersection scenario. To compare the experiment results between IMM method with trajectory generation model and the one without, tracking error of the former decreases by 75% in particular scenario.