IMM

代码说明：

  target tracking The CV and CA models can be used to model the distance between front and host vehicles, but we don’t know when a specific model should be used. The interacting multiple model (IMM) estimator [1] is an algorithm which can be used to handle such case. In IMM algorithm, at time k the previous estimates from the multiple models are mixed based on the mixing probabilities to generate different mixed initial conditions for different filters.