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Tracking the actions of vehicles at crossroads and planning safe trajectories will be an effective method to reduce the rate of traffic accident at intersections. It is to resolve the problem of the abrupt change because of the existence of drivers' voluntary choices. In this paper, we make approach of an improved IMM tracking method based on trajectory generation, abstracted by trajectory generation algorithm, to improve this situation. Because of the similarity between human-driving trajectory and programming trajectory which is generated by trajectory-generated algorithm, the improved IMM method performs well in tracking moving vehicles with some sudden changes of its movement. A set of data is collected for experiments when an object vehicle takes a sudden left turn in intersection scenario. To compare the experiment results between IMM method with trajectory generation model and the one without, tracking error of the former decreases by 75% in particular scenario

Trajectory Generation Model-Based IMM Tracking for Safe Driving in Intersection Scenario