Methods and systems for multi-hypothesis object tracking for automated driving systems. One system includes an electronic processor configured to receive environment information and generate pseudo-measurement data associated with an object within an environment of the vehicle. The electronic processor is also configured to determine, based on the environment information and the pseudo-measurement data, a set of association hypotheses regarding the object. The electronic processor is also configured to determine, based on the set of association hypotheses, an object state of the object. The electronic processor is also configured to control the vehicle based on the determined object state.