Tracking an object that switches motion models

hardsubjectivesystem design

Asked in interviews

You need to track an object that does not follow a single motion model at all times — e.g. a vehicle that cruises at constant velocity, then brakes, then turns sharply. A single constant-velocity Kalman filter lags or overshoots. How do you handle this?

A target moves steadily, then abruptly maneuvers — the motion model that fit the straight segment no longer describes the turn.

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