Autonomous Driving with MHT

In this chapter, we will apply the MHT techniques from the previous chapter to the interesting problem of autonomous driving. As with MHT, this chapter falls in the Learning portion of our taxonomy. Consider a primary car that is driving along a highway at variable speeds. It carries a radar that measures the azimuth, range, and range rate. Cars pass the primary car, some of which change lanes from behind the car and cut in front. The multiple hypothesis system tracks all cars around the primary car.