Abstract: To improve the anti-car rear-end collision warning system reliability of vehicle rear collision avoidance system，an IMM algorithm is designed to achieve tracking of motor vehicles using the two models.The most common models of uniform motion and uniformly accelerated motion for motor vehicles on the highway are simulated.Tracking simulation of the distance between the two vehicles，relative speed and angle shows that the algorithm can effectively track in front of vehicles.

Key words: Interacting Multiple Model（IMM）, target detection, vehicle, tracking

摘要： 考虑毫米波雷达测量的误差和噪声的存在，为了提高毫米波雷达汽车防追尾预警系统的可靠性，设计了一个多模型算法实现对机动车辆的准确跟踪。针对汽车在高速公路上最常见的匀速、匀加速及转弯运动模型进行仿真实验，结果表明该算法能够有效地跟踪前方行驶车辆，探知自车与前车之间距离信息、速度信息等，从而降低雷达虚警率。

关键词: 交互多模型, 目标检测, 车辆, 跟踪