The application relates to a target
time sequence alignment method and device, equipment and a readable storage medium, and relates to the technical field of automatic driving. When target identification of an initial frame is performed, a
target array is constructed based on the number of target objects when at least one target object is identified; each target object is added to a corresponding index in the
target array to construct a mapping relationship between the ID value of the target object and the index, and a
life time length value is set for each target object; when target matching of a subsequent frame is performed, the size of each
life time length value is adjusted according to the target matching result; when a new target object is identified and at least one target
life time length value is less than a preset drop frame threshold value, a target index in which the target object corresponding to the target life time length value is located is released, the new target object is added to the target index, the ID value corresponding to the target index is updated to the ID value of the new target object, and a life time length value is set for the new target object, so that the alignment of the
time sequence of the target object is effectively realized.