【自动驾驶】感知融合中的生命周期管理

1.概念

        生命周期管理，其实就是现在track属于什么状态，是否是一个有效的track。什么时候生成一个track，什么时候消亡一个track等的状态。其实这个是多目标跟踪里面的。但是现在一般感知融合中会先进行跟踪，然后再融合等。

2.举例说明

以下面代码为例：

        https://github.com/nwojke/deep_sort/blob/master/deep_sort/track.py

class TrackState:
    """
    Enumeration type for the single target track state. Newly created tracks are
    classified as `tentative` until enough evidence has been collected. Then,
    the track state is changed to `confirmed`. Tracks that are no longer alive
    are classified as `deleted` to mark them for removal from the set of active
    tracks.
    """

    Tentative = 1
    Confirmed = 2
    Deleted = 3

该段代码是一个track的三种状态