Scattering centers matching is currently the primary technique in SAR Automatic Target Recognition (ATR) using scattering centers. The difficulties in scattering centers matching originate in the inexactness of scattering centers and missing scattering centers. The recently developed Coherent Point Drift (CPD) method solves point pattern matching from the perspective of probability density estimation. In the CPD method, the inexactness of scattering centers and missing scattering centers can be well considered. The CPD method was introduced in this research to solve scattering centers matching. In order to improve the accuracy and stability of scattering center matching, the CPD method was modified to incorporate the prior information of vehicles’ azimuth estimation and scattering centers attributes. Experiments on MSTAR dataset show the validity of the proposed method.