This paper presents a novel 3D MOT system exploiting a hybrid mechanism combining Kalman Filters and Transformers for high-performance MOT. We investigate the use of Transformers in 3D Multi-Object Tracking. We propose a new Transformer- based Joint Prediction approach in the Hybrid Mechanism with Kalman Filter for 3D-MOT. To assess the validity of our proposed approach, we compare our experimental results against those of state-of-the-art methods in 3D MOT. Our approach achieves interesting performance and clearly outperforms the PC3T and other methods in terms of tracking precision.