In order to realize robust tracking of vehicles in the background of the strong clutter, this paper proposes a new kind of particle filter with non-Gaussian and depend ent noise.The target vehicle movement behavior in the clutter environment is modeled by introducing C auchy-Gaussian mixture noise model into the common nonlinear system model.The nature of noise c orrelation proposal distribution function is analyzed indetail based on the established m otion model,and the mathematical expression of non-Gaussian noise correlation o ptimal proposal distribution function is deduced based on the minimum variance weighting conditi ons.The detailed implementation steps of the algorithm are shown.Finally,robust tracking of movi ng vehicles in the background of strong noise is realized in the framework of the proposed method b ased on multiple features adaptive fusion method.Experimental results show that the proposed meth od extends the application of particle filter,and effectively improves the vehicle track ing accuracy and stability in the strong noise environment.