Combine detection reports from different sensors
Automated Driving Toolbox
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.
In1, In2, ..., InN— Sensor detections to combine
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.
By default, the block includes two ports for input detections. To add more ports, use the Number of input sensors to combine parameter.
Out— Combined sensor detections
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
ObjectAttributes fields in the detection
structure are the union of the
fields in each input port.
Number of input sensors to combine— Number of input sensor ports
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.
Source of output bus name— Source of output bus name
Source of output bus name, specified as
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
Specify an output bus name— Name of output bus
To enable this parameter, set the Source of output bus
name parameter to