Environment perception and situation awareness are keystones for autonomous road
vehicles. The problem of maneuver classification for road vehicles in the context of multi-
model state estimation under model uncertainty is addressed in this paper. The conventional
approach is to define different motion models that match the desired type of movements. In
this work we used a single motion model as a starting point and applied constraints to
construct such filters that are fine tuned for the predefined maneuvers. The estimation is …