0.2.3.3.3.1.3 State Transition Parameters

Each tracking instance can be in either FREE, DETECT, or ACTIVE state. Once per frame, the instance can get HIT (have non-zero points associated to a target instance) or MISS (no points associated) event.

When in FREE state, the transition to DETECT state is made by the allocation decision. See Table 7 for the allocation decision configuration parameters. When in DETECT state, use the det2active threshold for the number of consecutive hits to transition to ACTIVE state, or det2free threshold of number of consecutive misses to transition back to FREE state. When in ACTIVE state, the handling of the MISS (no points associated) is as follows:

• If the target is in the static zone and the target motion model is close to static, then assume that the reason for no detection is because they were removed as static clutter. In this case, increment the miss count, and use the static2free threshold to extend the life expectation of the static targets.
• If the target is outside the static zone, then no points were associated because that target is exiting. In this case, use the exit2free threshold to quickly free the exiting targets.
• If the target is in the static zone, but has non-zero motion in radial projection, then the lack of detections occurs when the target is obscured by other targets. In this case, continue target motion according to the model, and use the active2free threshold.
• If the target is in a static zone and is only associated with static points (0 Doppler), then the sleep2Free threshold is used.

Table 8 lists the parameters used to set this behavior.