Detection Concatenation

Combine detection reports from different sensors

• Library:

• Automated Driving Toolbox

• 

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Description

The Detection Concatenation block combines detection reports from multiple sensor blocks onto a single output bus. Sensor blocks include the Radar Detection Generator and Vision Detection Generator blocks. Concatenation is useful when detections from multiple sensor blocks are passed into a Multi-Object Tracker block. You can accommodate additional sensors by changing the Number of input sensors to combine parameter to increase the number of input ports.

Ports

Input

In1, In2, ..., InN — Sensor detections to combine

Simulink^® buses containing MATLAB^® structures

Sensor detections to combine, where each detection is a Simulink bus containing a MATLAB structure. See Group Signal Lines into Virtual Buses (Simulink) for more details.

The definitions of the detection lists are found in the Detections output port descriptions of the Radar Detection Generator and Vision Detection Generator blocks.

By default, the block includes two ports for input detections. To add more ports, use the Number of input sensors to combine parameter.

Output

Out — Combined sensor detections

Simulink bus containing MATLAB structure

Combined sensor detections from all input buses, returned as a Simulink bus containing a MATLAB structure. See Group Signal Lines into Virtual Buses (Simulink). The definitions of the detection lists are found in the Detections output port descriptions of the Radar Detection Generator and Vision Detection Generator blocks

The Maximum number of reported detections output is the sum of the Maximum number of reported detections of all input ports. The number of actual detections is the sum of the number of actual detections in each input port. The ObjectAttributes fields in the detection structure are the union of the ObjectAttributes fields in each input port.

Parameters

Number of input sensors to combine — Number of input sensor ports

2 (default) | positive integer

Number of input sensor ports, specified as a positive integer. Each input port is labeled In1, In2, …, InN, where N is the value set by this parameter.

Data Types: double

Source of output bus name — Source of output bus name

Auto (default) | Property

Source of output bus name, specified as Auto or Property.

• If you select Auto, the block automatically generates a bus name.

• If you select Property, specify the bus name using the Specify an output bus name parameter.

Specify an output bus name — Name of output bus

no default

Dependencies

To enable this parameter, set the Source of output bus name parameter to Property.

Simulate using — Type of simulation to run

Interpreted execution (default) | Code generation

• Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

• Code generation — Simulate the model using generated C/C++ code. The first time you run a simulation, Simulink generates C/C++ code for the block. The C code is reused for subsequent simulations as long as the model does not change. This option requires additional startup time.

Model Examples

Sensor Fusion Using Synthetic Radar and Vision Data in Simulink

Implement a synthetic data simulation for tracking and sensor fusion in Simulink with Automated Driving Toolbox™.

Open Model

Adaptive Cruise Control with Sensor Fusion

Implement an automotive adaptive cruise controller using sensor fusion.

Open Model

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.