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This paper discusses the perception and tracking of individual as well as group targets as applied to multi-lane public traffic. Target tracking problem is formulated as a two hierarchical layer problem—on the first layer, a multi-target tracking problem based on multiple detections is distinguished in the measurement space, and on the second (top) layer, group target tracking with birth and death as well as merging and splitting of group target tracks as they evolve in a dynamic scene is represented. This configuration enhances the multi-target tracking performance in situations including but not limited to target initialization(birth), target occlusion, missed detections, unresolved measurement, target maneuver, etc. In addition, group tracking exposes complex individual target interactions to help in situation assessment which is challenging to capture otherwise.

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Target tracking in public traffic calls for a tracking system with automated track initiation and termination facilities in a randomly evolving driving environment. In addition, the key problem of data association needs to be handled effectively considering the limitations in the computational resources onboard an autonomous car. In this paper, we discuss a multi-target tracking system that addresses target birth/initiation and death/termination processes with automatic track management feature. The tracking system is based on Linear Multi-target Integrated Probabilistic Data Association Filter (LMIPDAF), which is adapted to specifically include algorithms that handle track initiation and termination, clutter density estimation and track management. The performance of the proposed tracking algorithm is compared to other single and multi-target tracking schemes and is shown to have acceptable tracking error. It is further illustrated through multiple traffic simulations that the computational requirement of the tracking algorithm is less than that of optimal multi-target tracking algorithms that explicitly address data association uncertainties.

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