Sensitivity and Performance Evaluation of Multiple-Model State Estimation Algorithms for Autonomous Vehicle Functions

Table 2

Motion of the tracked object in the simulation: Trajectory2.

	Vehicle motion	Turn rate	Duration [s]
#1	CV	—	25
#2	CT	3 deg/s	15
#3	CV	—	30
#4	Clothoid		20
#5	CV	—	10