Track Concatenation

Concatenate tracks

Since R2021a

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Libraries:
Sensor Fusion and Tracking Toolbox / Utilities

Description

The Track Concatenation block concatenates track buses originating from multiple sources into a single list of object tracks. The sources to this block must all use the objectTrack format, and can be sensor blocks, tracker blocks, Track-To-Track Fuser blocks, or other track concatenation blocks. Use this block to concatenate tracks from multiple sources before passing them into the Track-To-Track Fuser block.

Examples

Track-to-Track Fusion for Automotive Safety Applications in Simulink

Perform track-to-track fusion in Simulink® with Sensor Fusion and Tracking Toolbox™. In the context of autonomous driving, the example illustrates how to build a decentralized tracking architecture using a Track-To-Track Fuser block. In the example, each vehicle performs tracking independently as well as fuses tracking information received from other vehicles. This example closely follows the Track-to-Track Fusion for Automotive Safety Applications MATLAB® example.

• Open Model

Ports

Input

In1, In2, ..., InN — Tracks to combine

Simulink^® buses containing MATLAB^® structures

Tracks to combine, where each track is a Simulink bus containing a MATLAB structure. See Create Nonvirtual Buses (Simulink) for more details.

You can find the definitions of the track lists in the Confirmed Tracks output port descriptions of the tracker blocks, such as the Global Nearest Neighbor Multi Object Tracker block.

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 tracks

Simulink bus containing MATLAB structure

Combined tacks from all input buses, returned as a Simulink bus containing a MATLAB structure. See Create Nonvirtual Buses (Simulink). You can find the definitions of the track lists in the Confirmed Tracks output port descriptions of the tracker blocks, such as the Global Nearest Neighbor Multi Object Tracker block.

Parameters

Number of input tracks to combine — Number of input track ports

2 (default) | positive integer

Number of input track ports, specified as a positive integer. The input ports 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 the 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

BusTrackConcatenation

Specify a name for the output bus.

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.

Extended Capabilities

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

Version History

Introduced in R2021a

R2023a: Simulink buses do not show in workspace

As of R2023a, the Simulink buses created by this block no longer show in MATLAB workspace.