Multitarget Vehicle Tracking and Motion State Estimation Using a Novel Driving Environment Perception System of Intelligent Vehicles

<div>Estimation results of simulation driving experiment. Prediction result of (a) lateral distance, (b) longitudinal distance, (c) lateral relative speed, and (d) longitudinal relative speed.</div>

Journal of Advanced Transportation

fig12

Figure 12

Figure 12: Multitarget Vehicle Tracking and Motion State Estimation Using a Novel Driving Environment Perception System of Intelligent Vehicles 