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Since situational awareness is crucial for autonomous driving in urban environments, multi-target tracking has become an increasingly popular research topic during the last several years. For autonomous driving in urban environments, cars and pedestrians are the two main types of obstacles, and their motion characteristics are not the same. While in the current related multi-target tracking research, the same motion model (such as Constant Velocity model [CV]) or motion model set (such as CV combined with Constant Acceleration model [CA]) is mostly used to track different types of obstacles simultaneously. Besides, in current research, regular motion models are mostly adopted to track pedestrians, such as CV, CA, and so on, the uncertainty in pedestrian motion is not well considered.