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Detection Concatenation

Combine detection reports from different sensors

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  • 库:

  • Automated Driving Toolbox

    Sensor Fusion and Tracking Toolbox / Utilities

  • Detection Concatenation block

Description

TheDetection Concatenationblock combines detection reports from multiple sensors onto a single output bus. Concatenation is useful when detections from multiple sensor blocks are passed into a tracker block such as theMulti-Object Trackerblock. You can accommodate additional sensors by changing theNumber of input sensors to combineparameter to increase the number of input ports.

Ports

Input

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Sensor detections to combine, where each detection is a Simulink bus containing a MATLAB structure. SeeCreate Nonvirtual Buses(Simulink)for more details.

The structure has the form:

Field Description Type
NumDetections Number of detections integer
Detections Object detections Array of object detection structures. The firstNumDetectionsof these detections are actual detections.

The fields ofDetectionsare:

Field Description Type
Time Measurement time singleordouble
Measurement Object measurements singleordouble
MeasurementNoise Measurement noise covariance matrix singleordouble
SensorIndex Unique ID of the sensor singleordouble
ObjectClassID Object classification ID singleordouble
MeasurementParameters Parameters used by initialization functions of tracking filters Simulink Bus
ObjectAttributes Additional information passed to tracker Simulink Bus

By default, the block includes two ports for input detections. To add more ports, use theNumber of input sensors to combineparameter.

Output

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Combined sensor detections from all input buses, returned as a Simulink bus containing a MATLAB structure. SeeCreate Nonvirtual Buses(Simulink).

The structure has the form:

Field Description Type
NumDetections Number of detections integer
Detections Object detections Array of object detection structures. The firstNumDetectionsof these detections are actual detections.

The fields ofDetectionsare:

Field Description Type
Time Measurement time singleordouble
Measurement Object measurements singleordouble
MeasurementNoise Measurement noise covariance matrix singleordouble
SensorIndex Unique ID of the sensor singleordouble
ObjectClassID Object classification ID singleordouble
MeasurementParameters Parameters used by initialization functions of tracking filters Simulink Bus
ObjectAttributes Additional information passed to tracker Simulink Bus

TheMaximum number of reported detectionsoutput is the sum of theMaximum number of reported detectionsof all input ports. The number of actual detections is the sum of the number of actual detections in each input port. TheObjectAttributesfields in the detection structure are the union of theObjectAttributesfields in each input port.

Parameters

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Number of input sensor ports, specified as a positive integer. Each input port is labeledIn1,In2, …,InN, whereNis the value set by this parameter.

Data Types:double

源输出总线名称,指定为AutoorProperty.

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

  • If you selectProperty, specify the bus name using theSpecify an output bus nameparameter.

Dependencies

To enable this parameter, set theSource of output bus nameparameter toProperty.

  • Interpreted execution— Simulate the model using the MATLAB interpreter. This option shortens startup time. InInterpreted executionmode, 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

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

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™.

版本历史

Introduced in R2017b

See Also

Apps

Blocks

Topics