To solve the vehicle’s tracking problems with real time and precision in automated highway system

a novel state estimation algorithm based on multisensor data fusion is proposed. Firstly

a nonlinear system dynamic model was established for the vehicle motion state with discrete time and multiple models. By utilizing each sensor measurement data in current time and combining interacting multiple models (IMM) with extended kalman filter (EKF)

the local state estimation value and error covariance m...