The Interacting Multiple Model Smooth Variable Structure Filter for Trajectory Prediction

An autonomous vehicle would benefit from being able to predict trajectories of other vehicles in its vicinity for improved safety. In order for the self-driving car to plan safe trajectories, paths of nearby vehicles are required to be predicted for risk assessment, decision making, and motion planning. In this study, a trajectory prediction algorithm based on the Interacting Multiple Model (IMM) estimation strategy is proposed to predict paths …