The invention discloses a vehicle tracking method combining target information and
motion estimation. The vehicle tracking method includes the following steps that step1, a target center pixel point coordinate x0 and a tracking
window width h1 (1, w) are initialized; step2, motion information of a target is extracted, the color
probability model Piu of the target is calculated; step3, a next frame of
image sequence i is read, dimension changes of the target are determined in combination with motion information, and h1 (1, w) is updated; step4, a
Kalman filter is used for estimating the predicated position y0^, in the current frame, of the target; step5, The position y1, in the current frame, of a target is positioned nearby the predicated position y0^ by the utilization of a Mean-Shift progress positioning; step6, the
Kalman filter is updated, and then the method skips to the step3 to be continued. According to the dimension changes of the target and the background
interference problem, in combination with the motion information of the target vehicle,
model description is optimized, the
window width of an MS
algorithm kernel function is changed in a self-
adaptation mode according to a dimension judgment mechanism,
motion estimation is performed on the target through the
Kalman filter, an MS
algorithm initial search center is optimized, and the problem that an MS
algorithm can not track a shielded vehicle is solved.